Due to time limitations, we did not get the chance to fully implement our dual-end effector design. Since we had a working pick and place algorithm and a working dual-end effector, we feel confident that we can integrate the two together. To do so, it would take the following steps:
Make an electrical circuit for the pump to be controlled by Arduino
Create longer wires that can reach from the computer to the Arduino
Overwrite the code architecture, looking for the UF gripper
Interface between Arduino and ROS using microROS and ROS Serial
The following resources are helpful for future work:
5V Air Pump Guide shows how to set up the air pump so that it can be controlled by the Arduino
ROS_Serial Arduino Tutorials has many tutorials and examples on how to interface Arduino with ROS