Room Cleaning Robot - Detect and pick up toys

New Maixduinos RISC-V AI and machine learning dev kits arrived yesterday but shipped with the wrong camera. Swapped out camera from ESP-CAM, loaded the demo and it can detect supposably 1000 items. It does an ok job. Lighting is important. Object is Stig’s helmet. 

Now to train it on stuffed toys to complete the room cleaning robot.

This is my daughter's idea after getting frustrated/losing at Timezone's claw machines. She helped with the wiring, installation and setup. Thanks mini-maker Sienna.

Xbox controller is modified and the pot signals go into a Sparkfun's SAMD21 dev board which sends pot positions via USB to the Visual Studio .Net app.

The motors are limited to about 2 Watts (kid mode) . 0.5kg counter weights keeps the beaded cord on the pulley without skipping. The absolute encoder with multi-turn software counter keeps track of the cord's length.

She has some pretty condescending thoughts on how to improve the current design. But it's such a great daddy-daughter project. 

This is the spare room (old nursery). The claw moves to one of the upper corner when not in use. 

Power and RS485 wiring harness

Software application

Custom Triple H-Bridge (DRV8874) with current feedback. SAMD21 Arduino Zero Compatible Controller. RS485, UART, Qwiic I2C, EEPROM I2C, USB and H-Bridge Temp Sensor.

3D printed housing and fingers. RN-42 Bluetooth Controller, OLED display and 2S LiPo.

Missing Decimal place for the Current.

5-Pin connector for the servo. Motor +, Motor -, 3V3, 0V & Pot feedback.

I had some problems with Pin Mapping on the SAMD21 so there are wire links for the UART-TX and RX lines and the REF Pin can't be used as an Analog Input pin.