Autonomous pACKAGE SORTER CONVEYOR BELT

"video demonstration"

Hardware Initialization – Serial communication, motors, IR sensors, LED ring, servo motor, and color sensor are initialized for operation.

Block Detection & Dispensing – IR sensors detect blocks; once 10 blocks are counted, the dispenser and conveyor activate.

Color Sensing – The block moves under the color sensor, pausing briefly for color detection (red, blue, or green), triggering corresponding LED colors and servo adjustments.

Sorting Process – The conveyor positions the block for sorting, and sensor2 confirms passage before processing the next block.

Real-Time Optimization – Direct Port Manipulation ensures precise control of sensors and motors, bypassing digitalWrite()/digitalRead() for efficiency.

Modular Code Structure – Functions like steppergeardispensor(), spinconveyorbelt(), and color sensor() are structured outside the main loop for clarity and real-time performance.

// Stepper motor pins - set to output using DDRD for pins 6 and 7 (PORTD)

DDRD |= (1 << PD6) | (1 << PD7); // Set stepPin1 (PD6) and dirPin1 (PD7) as OUTPUT

DDRD |= (1 << PD4) | (1 << PD5); // Set stepPin2 (PD4) and dirPin2 (PD5) as OUTPUT

// IR sensor pins - set to input using DDRB for pins 8 and 9 (PORTB)

DDRB &= ~(1 << PB0) & ~(1 << PB1); // Set irSensor1Pin (PB0) and irSensor2Pin (PB1) as INPUT

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uint8_t sensor1State = PINB & (1 << PB0); // Read irSensor1Pin (PB0) using PINB

uint8_t sensor2State = PINB & (1 << PB1); // Read irSensor2Pin (PB1) using PINB

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void steppergeardispensor () {

// Set direction for stepper motor 2 to turn left (HIGH)

PORTD |= (1 << PD5); // dirPin2 HIGH (Set PD5 to HIGH to turn motor left)

for (int x = 0; x < 1000; x++) {

PORTD |= (1 << PD4); // stepPin2 HIGH (Set PD4 to HIGH to pulse stepPin2)

delayMicroseconds(500);

PORTD &= ~(1 << PD4); // stepPin2 LOW (Set PD4 to LOW to complete the pulse)

delayMicroseconds(500);

}

delay(2000);

Optimized for real-time performance using Direct Port Manipulation for fast sensor reading and motor control.

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