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Move to the Pick Up Location

Blocks will now need to be added to the project to move the arm mounted on the VEX V5 Workcell to the disk pick up location. The white box on the V5 Brain’s screen will trigger the arm mounted on the V5 Workcell to move to the disk pick up location.

  1. The arm mounted on the V5 Workcell will start at the origin location before moving to any other locations. Select and drag the [Linear move] block from the ‘Arm’ category in the Tool Box and attach it to the {When brain screen} block.
    add first linear move block
  2. Set the parameters of the [Linear move] block to (0, 0, 4.5).
    Set to 0, 0, 4.5
  3. Select and drag the [Linear move] block from the ‘Arm’ category in the Tool Box and attach it to the ‘White Box Pressed’ [Comment] block. Set the parameters of the [Linear move] block to the (x, y, z) coordinates of Point 1: The Electromagnet is directly above the disk pick up location.
    Add 1 linear to white
  4. Select and drag the [Linear move] block from the ‘Arm’ category in the Tool Box and attach it to the [Linear move] block. Set the parameters of the second [Linear move] block to the (x, y, z) coordinates of Point 2: The Electromagnet is touching the disk in the disk pick up location.
    Add 2 Linear White

    Note: the x and y-coordinates for both [Linear move] blocks should be the same. The only value that differs is the y-coordinate.
     

  5. Now that the arm mounted on the V5 Workcell has moved down to pick up the disk, the Electromagnet needs to be energized. Select and drag the [Energize Electromagnet] block from the ‘Magnet’ category in the Tool Box and attach it to the second [Linear move] block.
    Add magnet white
  6. Now that the V5 Robotic Arm has moved down and picked up the disk, it must move up to clear the standoffs before moving to another location. Select and drag the [Linear move] block from the ‘Arm’ category in the Tool Box and attach it to the [Energize Electromagnet] block. Set the parameters of the [Linear move] block to the (x, y, z) coordinates of Point 1: The Electromagnet is directly above the disk pick up location.
    Add 3 Linear White
  7. Download and run the project.
    Download and Run
  8. Place a red disk in the disk pick up location if there is not one already there.
    Red Step 1
  9. The four colored boxes will appear on the V5 Brain’s screen. Press the white box to move to the disk pick up location.
    White Button
  10. Observe the arm mounted on the V5 Workcell move to the disk pick up location and pick up the red disk.
    Pick up Disk
  11. Stop the project.
    Stop the project
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