In this chapter I'm going to show how to detect objects using the 3D Magnetic Sensor 2Go TLE493D, the robot arm, and the PSoC 62S2 WiFi BT Pioneer Board. In the figure below I show you the electrical diagram used in this chapter.

In the figure below I show you the electrical connection of this system. In the figure we can see the PSoC 62S2 WiFi BT Pioneer board, the six degrees of freedom robot arm, the 3D Magnetic Sensor 2Go TLE493D, the Servo 7, the ULN2803A IC, the relay, the wooden platform to slide the rubber balls, and the container.

I had to reviewed the datasheet of my Infineon 3D Magnetic Sensor 2Go. In the image below we can see the components of this board.

In the image below we can see the board GPIO pinout.

To program our board, I had downloaded and installed the next software:

• Arduino IDE

• USB Driver from SEGGER
• Library: TLE493D-3DMagnetic-Sensor
• Board: XMC Microcontroller by Infineon

The latest version of Arduino IDE is downloaded from: https://www.arduino.cc/en/Main/Software

We have to download and install the latest version of SEGGER USB driver so that our device works correctly.

The library TLE493D-3DMagnetic-Sensor is downloaded from: https://github.com/Infineon/TLE493D-W2B6-3DMagnetic-Sensor

The Microcontroller board is downloaded from the official Infineon site on github. There we will find the instructions for a correct installation: https://github.com/Infineon/XMC-for-Arduino

In my case, I installed version 1.4.0. Later, in preferences we added the url of the board and installed it: https://github.com/Infineon/Assets/releases/download/current/package_infineon_index.json