Need testers for Closed Loop Pick Offset Correction feature (Press Play and Walk Away)

[Jorropo]

Hello ! I need testers for my wonderful Press Play Walk Away PR.
It used to be very limited (photon feeder only, no UI, no way to change options without recompiling).

I have smoothed out all the edges and now it should be ready for use:


It adds a closed loop algorithm using bottom vision results to feed into an I-controller.
In other words, the machine is able to use the existing bottom vision alignements to correct the pick position.
It's useful if you can't set the pick position perfectly using the top camera (or don't want to waste the time doing so) or if your feeder has some placement accuracy noise with a frequence < 1 feed.

Currently it is still only implemented for photon feeders, however the code has been heavily refactored and a couple lines of code would be enough to add support for any 0 or 1 DOFs feeder (feeders where the machine always picks from the same position like powered feeder or push-pull feeder).

If you have any feeders that looks like they would correspond feel free to tell me which and I would be happy to add support for your feeder if you could test if it also work for you.

Warning: you need a very accurate bottom camera position, running the Issues & Solutions bottom camera positioning is way good enough in my case. (any error in the bottom camera position will be applied to the picks since my code will center the pick according to bottom vision results)

Thanks