Embedded Files
For this rapid prototyping partner project, our goal is to create a machine that can sort skittles based on color.
Day 1
Day 1
Brief
Brief
Idea Development
Idea Development
To the left is the idea that we created after looking through our combined research. While it is ambitious, I think it will turn out very nicely when we make it.
Clock Outline
Clock Outline
Above is the beginning of the structure of the clock
Initial Prototyping
Initial Prototyping
Above is some early prototyping, just to make sure that the concept works like I thought it would, and find which adjustments need to be made
Day 2
Day 2
New Ideas
New Ideas
An additional idea for the clock face, we could use musical notes instead of numbers, and maybe incorporate some auditory component if we have enough time.
Assembly and Electrical Components
Assembly and Electrical Components
During work time today, we finished making the basic framework for the clock, and started building more complex components and incorporating the color sensor and first servo
Day 3
Day 3
Coding
Coding
#include <Servo.h>#include <Wire.h>#include "Adafruit_TCS34725.h"
// Pick analog outputs, for the UNO these three work well// use ~560 ohm resistor between Red & Blue, ~1K for green (its brighter)#define redpin 3#define greenpin 5#define bluepin 6// for a common anode LED, connect the common pin to +5V// for common cathode, connect the common to ground
// set to false if using a common cathode LED#define commonAnode true
// our RGB -> eye-recognized gamma colorbyte gammatable[256];
Adafruit_TCS34725 tcs = Adafruit_TCS34725(TCS34725_INTEGRATIONTIME_50MS, TCS34725_GAIN_4X);
Servo ramp;Servo wheel;
void setup() { Serial.begin(9600); //Serial.println("Color View Test!");
if (tcs.begin()) { //Serial.println("Found sensor"); } else { Serial.println("No TCS34725 found ... check your connections"); while (1); // halt! }
// use these three pins to drive an LED#if defined(ARDUINO_ARCH_ESP32) ledcAttachPin(redpin, 1); ledcSetup(1, 12000, 8); ledcAttachPin(greenpin, 2); ledcSetup(2, 12000, 8); ledcAttachPin(bluepin, 3); ledcSetup(3, 12000, 8);#else pinMode(redpin, OUTPUT); pinMode(greenpin, OUTPUT); pinMode(bluepin, OUTPUT);#endif
// thanks PhilB for this gamma table! // it helps convert RGB colors to what humans see for (int i=0; i<256; i++) { float x = i; x /= 255; x = pow(x, 2.5); x *= 255;
if (commonAnode) { gammatable[i] = 255 - x; } else { gammatable[i] = x; } //Serial.println(gammatable[i]); }
wheel.attach(8); ramp.attach(7);
}
// The commented out code in loop is example of getRawData with clear value.// Processing example colorview.pde can work with this kind of data too, but It requires manual conversion to // [0-255] RGB value. You can still uncomments parts of colorview.pde and play with clear value.
int positions = 0;int roundnumber = 1;int objectColor = 0;int redBase = 0;int greenBase = 0;int blueBase = 0;
void moveyellow(){delay(100);ramp.write(90);delay(100);wheel.write(0);positions == 0;delay(1000);}
void moveorange(){delay(100);ramp.write(125);delay(100);wheel.write(0);positions == 0;delay(1000);}
void movered(){delay(100);ramp.write(160);delay(100);wheel.write(0);positions == 0;delay(1000);}
void movegreen(){delay(100);ramp.write(55);delay(100);wheel.write(0);positions == 0;delay(1000);}
void movepurple(){delay(100);ramp.write(20);delay(100);wheel.write(0);positions == 0;delay(1000);}
void loop() {
float red, green, blue; tcs.setInterrupt(false); // turn on LED
delay(60); // takes 50ms to read
tcs.getRGB(&red, &green, &blue); tcs.setInterrupt(true); // turn off LED
Serial.print("R:\t"); Serial.print(int(red)); Serial.print("\tG:\t"); Serial.print(int(green)); Serial.print("\tB:\t"); Serial.print(int(blue));
// Serial.print("\t");// Serial.print((int)red, HEX); Serial.print((int)green, HEX); Serial.print((int)blue, HEX); Serial.print("\n");
// uint16_t red, green, blue, clear;// // tcs.setInterrupt(false); // turn on LED//// delay(60); // takes 50ms to read//// tcs.getRawData(&red, &green, &blue, &clear);// // tcs.setInterrupt(true); // turn off LED//// Serial.print("C:\t"); Serial.print(int(clear)); // Serial.print("R:\t"); Serial.print(int(red)); // Serial.print("\tG:\t"); Serial.print(int(green)); // Serial.print("\tB:\t"); Serial.print(int(blue));// Serial.println();
#if defined(ARDUINO_ARCH_ESP32) ledcWrite(1, gammatable[(int)red]); ledcWrite(2, gammatable[(int)green]); ledcWrite(3, gammatable[(int)blue]);#else analogWrite(redpin, gammatable[(int)red]); analogWrite(greenpin, gammatable[(int)green]); analogWrite(bluepin, gammatable[(int)blue]);#endif
wheel.write(90);positions == 1;
if (roundnumber == 1 && positions == 1){ redBase = red; greenBase = green; blueBase = blue;// roundnumber += 1;}
if(red - redBase > 20){objectColor == 3;}
if(red - redBase > 25){objectColor == 2;}
if (red - redBase >30){objectColor == 1;}
if(red - redBase > 15 && blue - blueBase > 20){objectColor == 5;}
if(green - greenBase > 25){objectColor == 4;}
delay(500);
if (roundnumber > 1 && positions == 1){ if (objectColor == 1){ movered(); } if (objectColor == 2){ moveorange(); } if (objectColor == 3){ moveyellow(); } if (objectColor == 4){ movegreen(); } if (objectColor == 5){ movepurple(); }}
wheel.write(180);delay(500);wheel.write(90);positions == 1;roundnumber += 1;
}
// Pick analog outputs, for the UNO these three work well// use ~560 ohm resistor between Red & Blue, ~1K for green (its brighter)#define redpin 3#define greenpin 5#define bluepin 6// for a common anode LED, connect the common pin to +5V// for common cathode, connect the common to ground
// set to false if using a common cathode LED#define commonAnode true
// our RGB -> eye-recognized gamma colorbyte gammatable[256];
Adafruit_TCS34725 tcs = Adafruit_TCS34725(TCS34725_INTEGRATIONTIME_50MS, TCS34725_GAIN_4X);
Servo ramp;Servo wheel;
void setup() { Serial.begin(9600); //Serial.println("Color View Test!");
if (tcs.begin()) { //Serial.println("Found sensor"); } else { Serial.println("No TCS34725 found ... check your connections"); while (1); // halt! }
// use these three pins to drive an LED#if defined(ARDUINO_ARCH_ESP32) ledcAttachPin(redpin, 1); ledcSetup(1, 12000, 8); ledcAttachPin(greenpin, 2); ledcSetup(2, 12000, 8); ledcAttachPin(bluepin, 3); ledcSetup(3, 12000, 8);#else pinMode(redpin, OUTPUT); pinMode(greenpin, OUTPUT); pinMode(bluepin, OUTPUT);#endif
// thanks PhilB for this gamma table! // it helps convert RGB colors to what humans see for (int i=0; i<256; i++) { float x = i; x /= 255; x = pow(x, 2.5); x *= 255;
if (commonAnode) { gammatable[i] = 255 - x; } else { gammatable[i] = x; } //Serial.println(gammatable[i]); }
wheel.attach(8); ramp.attach(7);
}
// The commented out code in loop is example of getRawData with clear value.// Processing example colorview.pde can work with this kind of data too, but It requires manual conversion to // [0-255] RGB value. You can still uncomments parts of colorview.pde and play with clear value.
int positions = 0;int roundnumber = 1;int objectColor = 0;int redBase = 0;int greenBase = 0;int blueBase = 0;
void moveyellow(){delay(100);ramp.write(90);delay(100);wheel.write(0);positions == 0;delay(1000);}
void moveorange(){delay(100);ramp.write(125);delay(100);wheel.write(0);positions == 0;delay(1000);}
void movered(){delay(100);ramp.write(160);delay(100);wheel.write(0);positions == 0;delay(1000);}
void movegreen(){delay(100);ramp.write(55);delay(100);wheel.write(0);positions == 0;delay(1000);}
void movepurple(){delay(100);ramp.write(20);delay(100);wheel.write(0);positions == 0;delay(1000);}
void loop() {
float red, green, blue; tcs.setInterrupt(false); // turn on LED
delay(60); // takes 50ms to read
tcs.getRGB(&red, &green, &blue); tcs.setInterrupt(true); // turn off LED
Serial.print("R:\t"); Serial.print(int(red)); Serial.print("\tG:\t"); Serial.print(int(green)); Serial.print("\tB:\t"); Serial.print(int(blue));
// Serial.print("\t");// Serial.print((int)red, HEX); Serial.print((int)green, HEX); Serial.print((int)blue, HEX); Serial.print("\n");
// uint16_t red, green, blue, clear;// // tcs.setInterrupt(false); // turn on LED//// delay(60); // takes 50ms to read//// tcs.getRawData(&red, &green, &blue, &clear);// // tcs.setInterrupt(true); // turn off LED//// Serial.print("C:\t"); Serial.print(int(clear)); // Serial.print("R:\t"); Serial.print(int(red)); // Serial.print("\tG:\t"); Serial.print(int(green)); // Serial.print("\tB:\t"); Serial.print(int(blue));// Serial.println();
#if defined(ARDUINO_ARCH_ESP32) ledcWrite(1, gammatable[(int)red]); ledcWrite(2, gammatable[(int)green]); ledcWrite(3, gammatable[(int)blue]);#else analogWrite(redpin, gammatable[(int)red]); analogWrite(greenpin, gammatable[(int)green]); analogWrite(bluepin, gammatable[(int)blue]);#endif
wheel.write(90);positions == 1;
if (roundnumber == 1 && positions == 1){ redBase = red; greenBase = green; blueBase = blue;// roundnumber += 1;}
if(red - redBase > 20){objectColor == 3;}
if(red - redBase > 25){objectColor == 2;}
if (red - redBase >30){objectColor == 1;}
if(red - redBase > 15 && blue - blueBase > 20){objectColor == 5;}
if(green - greenBase > 25){objectColor == 4;}
delay(500);
if (roundnumber > 1 && positions == 1){ if (objectColor == 1){ movered(); } if (objectColor == 2){ moveorange(); } if (objectColor == 3){ moveyellow(); } if (objectColor == 4){ movegreen(); } if (objectColor == 5){ movepurple(); }}
wheel.write(180);delay(500);wheel.write(90);positions == 1;roundnumber += 1;
}
Shell
Shell
With today's work time, we made the outer shell and components of the physical design, and started piecing it together for further testing
Internals
Internals
Additionally, we added a connecting piece so that the skittles would drop correctly into the mechanisms for sorting, which are displayed above.
Restarting
Restarting
Unfortunately, the design would have made the skittles be dropped before they could be sorted by the color sensor, so we had to re-calibrate and reorganize, which necessitated rebuilding the front face of the clock
Day 4
Day 4
Skittle Containers
Skittle Containers
Above are the containers that will be attached to collect the sorted skittles
Editing
Editing
We made minor alterations to the mechanisms of the sorter, in hopes that it would make the sensor work.
Coding Improvements
Coding Improvements
#include <Servo.h>#include <Wire.h>#include "Adafruit_TCS34725.h"
// Pick analog outputs, for the UNO these three work well// use ~560 ohm resistor between Red & Blue, ~1K for green (its brighter)#define redpin 3#define greenpin 5#define bluepin 6// for a common anode LED, connect the common pin to +5V// for common cathode, connect the common to ground
// set to false if using a common cathode LED#define commonAnode true
// our RGB -> eye-recognized gamma colorbyte gammatable[256];
Adafruit_TCS34725 tcs = Adafruit_TCS34725(TCS34725_INTEGRATIONTIME_50MS, TCS34725_GAIN_4X);
Servo ramp;Servo wheel;
void setup() { Serial.begin(9600); //Serial.println("Color View Test!");
if (tcs.begin()) { //Serial.println("Found sensor"); } else { Serial.println("No TCS34725 found ... check your connections"); while (1); // halt! }
// use these three pins to drive an LED#if defined(ARDUINO_ARCH_ESP32) ledcAttachPin(redpin, 1); ledcSetup(1, 12000, 8); ledcAttachPin(greenpin, 2); ledcSetup(2, 12000, 8); ledcAttachPin(bluepin, 3); ledcSetup(3, 12000, 8);#else pinMode(redpin, OUTPUT); pinMode(greenpin, OUTPUT); pinMode(bluepin, OUTPUT);#endif
// thanks PhilB for this gamma table! // it helps convert RGB colors to what humans see for (int i=0; i<256; i++) { float x = i; x /= 255; x = pow(x, 2.5); x *= 255;
if (commonAnode) { gammatable[i] = 255 - x; } else { gammatable[i] = x; } //Serial.println(gammatable[i]); }
wheel.attach(8); ramp.attach(7);
}
// The commented out code in loop is example of getRawData with clear value.// Processing example colorview.pde can work with this kind of data too, but It requires manual conversion to // [0-255] RGB value. You can still uncomments parts of colorview.pde and play with clear value.
int positions = 0;int roundnumber = 1;int objectColor = 0;int redBase = 0;int greenBase = 0;int blueBase = 0;
void moveyellow(){delay(100);ramp.write(90);delay(100);wheel.write(0);positions == 0;delay(1000);objectColor == 0;}
void moveorange(){delay(100);ramp.write(125);delay(100);wheel.write(0);positions == 0;delay(1000);objectColor == 0;}
void movered(){delay(100);ramp.write(160);delay(100);wheel.write(0);positions == 0;delay(1000);objectColor == 0;}
void movegreen(){delay(100);ramp.write(55);delay(100);wheel.write(0);positions == 0;delay(1000);objectColor == 0;}
void movepurple(){delay(100);ramp.write(20);delay(100);wheel.write(0);positions == 0;delay(1000);objectColor == 0;}
void loop() {
float red, green, blue; tcs.setInterrupt(false); // turn on LED
delay(60); // takes 50ms to read
tcs.getRGB(&red, &green, &blue); tcs.setInterrupt(true); // turn off LED
Serial.print("R:\t"); Serial.print(int(red)); Serial.print("\tG:\t"); Serial.print(int(green)); Serial.print("\tB:\t"); Serial.print(int(blue));
// Serial.print("\t");// Serial.print((int)red, HEX); Serial.print((int)green, HEX); Serial.print((int)blue, HEX); Serial.print("\n");
// uint16_t red, green, blue, clear;// // tcs.setInterrupt(false); // turn on LED//// delay(60); // takes 50ms to read//// tcs.getRawData(&red, &green, &blue, &clear);// // tcs.setInterrupt(true); // turn off LED//// Serial.print("C:\t"); Serial.print(int(clear)); // Serial.print("R:\t"); Serial.print(int(red)); // Serial.print("\tG:\t"); Serial.print(int(green)); // Serial.print("\tB:\t"); Serial.print(int(blue));// Serial.println();
#if defined(ARDUINO_ARCH_ESP32) ledcWrite(1, gammatable[(int)red]); ledcWrite(2, gammatable[(int)green]); ledcWrite(3, gammatable[(int)blue]);#else analogWrite(redpin, gammatable[(int)red]); analogWrite(greenpin, gammatable[(int)green]); analogWrite(bluepin, gammatable[(int)blue]);#endif
if (roundnumber == 1){ redBase = red; greenBase = green; blueBase = blue; roundnumber += 1;}
if (redBase+30 <= red){objectColor == 1;Serial.print("red");movered();}
if(redBase+25 <= red){objectColor == 2;Serial.print("orange");moveorange();}
if(redBase+20 <= red){objectColor == 3;Serial.print("yellow");moveyellow();}
if(redBase+15 <= red && blueBase+10 <= blue){objectColor == 5;Serial.print("purple");movepurple();}
if(greenBase+10 <= green){objectColor == 4;Serial.print("green");movegreen();}
delay(500);
wheel.write(180);delay(500);wheel.write(90);positions == 1;
}
// Pick analog outputs, for the UNO these three work well// use ~560 ohm resistor between Red & Blue, ~1K for green (its brighter)#define redpin 3#define greenpin 5#define bluepin 6// for a common anode LED, connect the common pin to +5V// for common cathode, connect the common to ground
// set to false if using a common cathode LED#define commonAnode true
// our RGB -> eye-recognized gamma colorbyte gammatable[256];
Adafruit_TCS34725 tcs = Adafruit_TCS34725(TCS34725_INTEGRATIONTIME_50MS, TCS34725_GAIN_4X);
Servo ramp;Servo wheel;
void setup() { Serial.begin(9600); //Serial.println("Color View Test!");
if (tcs.begin()) { //Serial.println("Found sensor"); } else { Serial.println("No TCS34725 found ... check your connections"); while (1); // halt! }
// use these three pins to drive an LED#if defined(ARDUINO_ARCH_ESP32) ledcAttachPin(redpin, 1); ledcSetup(1, 12000, 8); ledcAttachPin(greenpin, 2); ledcSetup(2, 12000, 8); ledcAttachPin(bluepin, 3); ledcSetup(3, 12000, 8);#else pinMode(redpin, OUTPUT); pinMode(greenpin, OUTPUT); pinMode(bluepin, OUTPUT);#endif
// thanks PhilB for this gamma table! // it helps convert RGB colors to what humans see for (int i=0; i<256; i++) { float x = i; x /= 255; x = pow(x, 2.5); x *= 255;
if (commonAnode) { gammatable[i] = 255 - x; } else { gammatable[i] = x; } //Serial.println(gammatable[i]); }
wheel.attach(8); ramp.attach(7);
}
// The commented out code in loop is example of getRawData with clear value.// Processing example colorview.pde can work with this kind of data too, but It requires manual conversion to // [0-255] RGB value. You can still uncomments parts of colorview.pde and play with clear value.
int positions = 0;int roundnumber = 1;int objectColor = 0;int redBase = 0;int greenBase = 0;int blueBase = 0;
void moveyellow(){delay(100);ramp.write(90);delay(100);wheel.write(0);positions == 0;delay(1000);objectColor == 0;}
void moveorange(){delay(100);ramp.write(125);delay(100);wheel.write(0);positions == 0;delay(1000);objectColor == 0;}
void movered(){delay(100);ramp.write(160);delay(100);wheel.write(0);positions == 0;delay(1000);objectColor == 0;}
void movegreen(){delay(100);ramp.write(55);delay(100);wheel.write(0);positions == 0;delay(1000);objectColor == 0;}
void movepurple(){delay(100);ramp.write(20);delay(100);wheel.write(0);positions == 0;delay(1000);objectColor == 0;}
void loop() {
float red, green, blue; tcs.setInterrupt(false); // turn on LED
delay(60); // takes 50ms to read
tcs.getRGB(&red, &green, &blue); tcs.setInterrupt(true); // turn off LED
Serial.print("R:\t"); Serial.print(int(red)); Serial.print("\tG:\t"); Serial.print(int(green)); Serial.print("\tB:\t"); Serial.print(int(blue));
// Serial.print("\t");// Serial.print((int)red, HEX); Serial.print((int)green, HEX); Serial.print((int)blue, HEX); Serial.print("\n");
// uint16_t red, green, blue, clear;// // tcs.setInterrupt(false); // turn on LED//// delay(60); // takes 50ms to read//// tcs.getRawData(&red, &green, &blue, &clear);// // tcs.setInterrupt(true); // turn off LED//// Serial.print("C:\t"); Serial.print(int(clear)); // Serial.print("R:\t"); Serial.print(int(red)); // Serial.print("\tG:\t"); Serial.print(int(green)); // Serial.print("\tB:\t"); Serial.print(int(blue));// Serial.println();
#if defined(ARDUINO_ARCH_ESP32) ledcWrite(1, gammatable[(int)red]); ledcWrite(2, gammatable[(int)green]); ledcWrite(3, gammatable[(int)blue]);#else analogWrite(redpin, gammatable[(int)red]); analogWrite(greenpin, gammatable[(int)green]); analogWrite(bluepin, gammatable[(int)blue]);#endif
if (roundnumber == 1){ redBase = red; greenBase = green; blueBase = blue; roundnumber += 1;}
if (redBase+30 <= red){objectColor == 1;Serial.print("red");movered();}
if(redBase+25 <= red){objectColor == 2;Serial.print("orange");moveorange();}
if(redBase+20 <= red){objectColor == 3;Serial.print("yellow");moveyellow();}
if(redBase+15 <= red && blueBase+10 <= blue){objectColor == 5;Serial.print("purple");movepurple();}
if(greenBase+10 <= green){objectColor == 4;Serial.print("green");movegreen();}
delay(500);
wheel.write(180);delay(500);wheel.write(90);positions == 1;
}
Day 5
Day 5
Skittle Entry Adjustments
Skittle Entry Adjustments
New reinforcement to the entry tube when the skittles were getting stuck.
Internal Mechanisms Changed
Internal Mechanisms Changed
We made adjustments to the skittle carrying components to make it move the skittles more smoothly.
Servo Entry Space
Servo Entry Space
We added space for the second servo to enter the design when pieces started to come together.
Day 6
Day 6
New Entrance
New Entrance
When the paper roll started to be crushed, we replaced it with a more sturdy cardboard tube.
Stand
Stand
We created a stand for the "clock" to be on while we prototype, so that there is room for the second tube to move and deposit the servos in the correct position.
Day 7
Day 7
Restructuring
Restructuring
When we realized that parts of the current design didn't function well, we created a new idea for how to attach the ramp that would move the skittle.
New Internal Mechanisms
Repositioning
Length Alterations
Ready to be Assembled
Stands
Stands
Additionally, we designed new stands for the "clock" to use, so that it will be elevated enough for proper usage. We decided to create the third (far right) option.
Day 7- EL
Day 7- EL
Wire Replacement
Wire Replacement
Assembly
Assembly
Code Alterations
Code Alterations
Day 8
Day 8
Minor Alterations
Minor Alterations
The right piece of the skittle exit channel was shortened to reduce scraping and friction.
New Clock Face
New Clock Face
Because the old clock face was off-center and couldn't be attached correctly, we created a new one.
Trimming
Trimming
We cut off the sides of the clock face so that it can be attached inside the clock, rather than on top of it. This was necessary to keep the skittles in place int he internal mechanisms.
More Trimming
More Trimming
When the previous trimming made the new clock face not line up with the skittle entrance, we had to do more alterations, and used tape to attach it so that it could be easily removed.
Sensor Covering
Sensor Covering
I used a clear piece of tape to cover the sensor hole, so that the skittles don't fall into it.
Day 9
Day 9
Clock Stand
Clock Stand
We added a stand to make the sorter easier to use, instead of needing to be held up to the correct height.
Internal Alterations
Internal Alterations
We made some modifications to the internal mechanisms, including removing a piece of tape that had been blocking the skittles and fine-tuning how to attach the clock face.
Data Collection
Data Collection
Since the one light color sensing system isn't working, I collected data to determine how to incorporate a second color contingency for red and orange.
Day 10- EL
Day 10- EL
Coding Alterations
Coding Alterations
I added a second color, and some redundancies to make color sensing on orange, red, and purple function. Now the color sensing and separation is operating correctly.
Day 11
Day 11
Extra Space
Extra Space
We added more space to the boxes so that the skittles wouldn't bounce out.
Shielding
Shielding
We also added a barrier to stop the skittles from flying off before entering the ramp.
Hot Glue
Hot Glue
We put hot glue in to try to dampen the fall rebound bounce.
Internal Tube
Internal Tube
We put a smaller tube inside of the entry tunnel, to limit the skittle jamming.
Day 12
Day 12
Railing
Railing
We added an internal railing to prevent skittles from falling into the space inside the machine and getting stuck.
Alterations
Alterations
We made minor alterations to the parts of the machine, like cutting the internal tube to align with the angle of the entry, and adding more hot glue to the boxes for skittle collection.
IMG_2164.MP4Functional?
Functional?
To the left is a video of the machine sorting dozens of skittles by color, with only minor errors such as bouncing out of the boxes, and jamming causing two to come out at once.
Finished
Finished
IMG_0941.MOVFunctional
Functional
The Skittle Sorter works very consistently when operating, with relatively few errors.
IMG_0942.MOVInternal Mechanisms
Internal Mechanisms
Above is a video of the inside of the machine, and how the inner wheel turns.
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