Arduino4Everyone: Project 14: Arduino Robot Arm Color Detection & Sorting

Project 14: Arduino Robot Arm Color Detection & Sorting

Main Ideas:

Making Arduino Robot Arm Color Detection & Sorting machine , in this project we have used the TCS3200 color sensor can detect a wide range of colors based on their wavelength and then programmed the robot Arm to take the sample which we want to the robot to detect the color for it , then robot Arm will take the sample to word the TCS3200 color sensor to detect the color and based on the detected color the robot Arm will move the sample to the right sorting place , i.e. it will move the red samples to red cup and so on , is same time the program will show the detection result on the LCD.

Code:

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https://arduino4everyones.blogspot.com/

Color ranges 2 cm till 5 cm

Main Ideas:

The TCS3200 color sensor can detect a wide range of colors based on their wavelength.

This sensor is can be used for color recognition/detection projects such as color matching, color sorting.

The sensor has four different types of filter covered diodes. In the 8 x 8 array of photodiodes,

16 photodiodes have Red filters, 16 have Blue filters, 16 have Green filters and the rest 16 photodiodes are

clear with no filters. Each type can be activated using the S2, S3 selection inputs.

*********/

#include <Wire.h>

#include <LiquidCrystal_PCF8574.h>

#include <Servo.h>

//Robot Arm

Servo middle, left, right, claw ; // creates 4 "servo objects"

int middlepin = 11; // orange attaches the Base servo

int leftpin = 10; // green wire attaches the left servo

int rightpin = 9; // gray wire attaches right servo

int clawpin = 6; // yellow wire attaches the servo on pin 6 to the claw object

int pos = 0; // variable to store the servo position

//LCD

LiquidCrystal_PCF8574 lcd(0x27); // set the LCD address to 0x27 for a 16 chars and 2 line display

// TCS230 or TCS3200 pins wiring to Arduino

#define S0 2 // gray

#define S1 3 //maron

#define S2 4 //yellow

#define S3 5 //green

#define sensorOut 7 //orange

// Capture frequencies read by the TCS230/TCS3200 Sensor

int redFrequency = 0;

int greenFrequency = 0;

int blueFrequency = 0;

//Define the colors

//red color

int redColor = 0;

//green color

int greenColor = 0;

//blue color

int blueColor = 0;

void basered()

{

//we will start from the trun right near color sensor pos was zero pos==0

//we will move back =45 and drop item

middle.attach(middlepin);

for (pos = 0; pos <= 45; pos += 1) { // goes from 0 degrees to 45 degrees

// in steps of 1 degree

middle.write(pos);

delay(20); // waits 15ms for the servo to reach the position

}

delay(50);

middle.detach();

hand();

int z = backmiddel (45, 1) ;

}

void baseblue()

{

//we will start from the trun right near color sensor pos was zero pos==0

//we will move back =45 and drop item

// left trun=130

middle.attach(middlepin); // attaches the servo on pin 9 to the servo object

for (pos = 0; pos <= 130; pos += 1) { // goes from 0 degrees to 180 degrees

// in steps of 1 degree

middle.write(pos);

delay(20); // waits 15ms for the servo to reach the position

}

delay (50);

middle.detach();

hand();

int z = backmiddel (130, 2) ;

}

void basegreen()

{

//we will start from the trun right near color sensor pos was zero pos==0

//we will move back =45 and drop item

// left trun=130

middle.attach(middlepin); // attaches the servo on pin 9 to the servo object

for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to 180 degrees

// in steps of 1 degree

middle.write(pos);

delay(20); // waits 15ms for the servo to reach the position

}

delay (50);

middle.detach();

hand();

int z = backmiddel (180, 3) ;

}

int backmiddel (int posm, int directiona)

// function declaration

{

if (directiona == 1)

{

//back middle =90

middle.attach(middlepin); // attaches the servo on pin 9 to the servo objectclawV.write(90);

for (pos = posm; pos <= 90; pos += 1)

{

// in steps of 1 degree

middle.write(pos);

delay(20); // waits 15ms for the servo to reach the position

}

delay(50);

middle.detach();

}

if (directiona == 2)

{

//back middle =90

middle.attach(middlepin); // attaches the servo on pin 9 to the servo objectclawV.write(90);

for (pos = 0; pos <= 50; pos += 1)

{

// in steps of 1 degree

middle.write(130 - pos);

delay(20); // waits 15ms for the servo to reach the position

}

// middle.write(90);

delay (50);

middle.detach();

}

if (directiona == 3)

{

//back middle =90

middle.attach(middlepin); // attaches the servo on pin 9 to the servo objectclawV.write(90);

for (pos = 0; pos <= 90; pos += 1)

{

// in steps of 1 degree

middle.write(180 - pos);

delay(20); // waits 15ms for the servo to reach the position

}

// middle.write(90);

delay (50);

middle.detach();

}

return 1; // return the value

}

void gotosensor()

{

hand();

// right trun =0

middle.attach(middlepin); // attaches the servo on pin 9 to the servo object

for (pos = 0; pos <= 90; pos += 1) { // goes from 0 degrees to 180 degrees

// in steps of 1 degree

middle.write(90 - pos);

delay(20); // waits 15ms for the servo to reach the position

}

delay(50);

middle.detach();

// hand();

delay(100);

color_detection();

}

void setup() {

right_left_Up();

// hand();

//gotosensor();

// basered();

// baseblue();

// basegreen();

// basemove();

//movebasecenterfromleft();

//movebaseleft();

// Setting the outputs

pinMode(S0, OUTPUT);

pinMode(S1, OUTPUT);

pinMode(S2, OUTPUT);

pinMode(S3, OUTPUT);

// Setting the sensorOut as an input

pinMode(sensorOut, INPUT);

// Setting frequency scaling to 20%

digitalWrite(S0, HIGH);

digitalWrite(S1, LOW);

// Begins serial communication

Serial.begin(9600);

int LCDError;

Serial.println("LCD...");

// http://arduino4everyones.blogspot.com

Wire.begin();

Wire.beginTransmission(0x27); //Define LCD Address

LCDError = Wire.endTransmission();

Serial.print("LCD Error Found: ");

Serial.print(LCDError);

if (LCDError == 0) {

Serial.println("No Error: LCD found.");

} else {

Serial.println("LCD is Missing , check connection.");

}

// initialize the lcd

lcd.begin(16, 2);

lcd.setBacklight(255);

lcd.home();

lcd.clear();

lcd.print("LCD Found");

delay(1500);

lcd.clear();

lcd.print("Welcome to ");

lcd.setCursor(0, 1);

lcd.print("Arduino4Everyones");

delay(2000);

lcd.clear();

lcd.print("Color Detection");

lcd.setCursor(0, 1);

lcd.print("Started... ");

delay(1000);

}

void color_detection()

{

// Set RED (R) filtered photodiodes to be read

digitalWrite(S2, LOW);

digitalWrite(S3, LOW);

// Reading the output frequency

redFrequency = pulseIn(sensorOut, LOW);

// Remaping the value of the RED (R) frequency from 0 to 255

// You must replace with your own values. Here's an example:

// this range for 2-3 cm distance

//redColor = map(redFrequency, 137, 144, 255, 0);

redColor = redFrequency;

// Printing the RED (R) value

Serial.print(" R = ");

Serial.print(redColor);

delay(100);

// Setting GREEN (G) filtered photodiodes to be read

digitalWrite(S2, HIGH);

digitalWrite(S3, HIGH);

// Reading the output frequency

greenFrequency = pulseIn(sensorOut, LOW);

// Remaping the value of the GREEN (G) frequency from 0 to 255

// You must replace with your own values. Here's an example:

// Printing the GREEN (G) value

// this range for 2-3 cm distance

//greenColor = map(greenFrequency, 206, 212, 255, 0);

greenColor = greenFrequency;

// Printing the GREEN (G) value

Serial.print(" G = ");

Serial.print(greenColor);

delay(100);

// Setting BLUE (B) filtered photodiodes to be read

digitalWrite(S2, LOW);

digitalWrite(S3, HIGH);

// Reading the output frequency

blueFrequency = pulseIn(sensorOut, LOW);

// Remaping the value of the BLUE (B) frequency from 0 to 255

// You must replace with your own values. Here's an example:

// this range for 2-5 cm distance

//blueColor = map(blueFrequency, 96, 102, 255, 0);

blueColor = blueFrequency;

// Printing the BLUE (B) value

Serial.print(" B = ");

Serial.print(blueColor);

Serial.println("");

delay(200);

// Checks the current detected color and prints

// a message in the serial monitor

if (redColor < greenColor && redColor < blueColor) {

Serial.println("****** Red color detected *****");

lcd.clear();

lcd.print("Red Color");

lcd.setCursor(0, 1);

lcd.print("Detected !");

basered();

}

if (greenColor < redColor && greenColor < blueColor) {

Serial.println("****** Green color detected ******");

lcd.clear();

lcd.print("Green Color");

lcd.setCursor(0, 1);

lcd.print("Detected !");

basegreen();

}

if (blueColor < redColor && blueColor < greenColor) {

Serial.println("****** Blue color detected ******");

lcd.clear();

lcd.print("Blue Color ");

lcd.setCursor(0, 1);

lcd.print("Detected !");

baseblue();

}

delay(400);

//Serial.println("");

}

void loop() {

gotosensor();

delay(2500);

// Checks the current detected color and prints

// a message in the serial monitor

if (redColor > greenColor && redColor > blueColor) {

Serial.println("****** Red color detected *****");

}

if (greenColor > redColor && greenColor > blueColor) {

Serial.println("****** Green color detected ******");

}

if (blueColor > redColor && blueColor > greenColor) {

Serial.println("****** Blue color detected ******");

}

delay(400);

}

void right_left_Up()

{

left.attach(leftpin); // attaches the servo on pin 9 to the servo object

right.attach(rightpin); // attaches the servo on pin 9 to the servo object

left.write(0);

right.write(90); // tell servo to go to position in variable 'pos'

delay (500);

left.detach();

right.detach();

delay (500);

}

void hand()

{

// claw

// open

claw.attach(clawpin); // attaches the servo on pin 9 to the servo object

claw.write(0);

delay (700);

claw.detach();

//close

claw.attach(clawpin); // attaches the servo on pin 9 to the servo objectclawV.write(90);

claw.write(90);

delay (1000);

//claw.detach();

delay (500);

}

void basemove()

{

hand();

// right trun =0

middle.attach(middlepin); // attaches the servo on pin 9 to the servo object

for (pos = 0; pos <= 90; pos += 1) { // goes from 0 degrees to 180 degrees

// in steps of 1 degree

middle.write(90 - pos);

delay(20); // waits 15ms for the servo to reach the position

}

delay(50);

middle.detach();

// hand();

//back middle =90

middle.attach(middlepin); // attaches the servo on pin 9 to the servo objectclawV.write(90);

for (pos = 0; pos <= 90; pos += 1) { // goes from 0 degrees to 180 degrees

// in steps of 1 degree

middle.write(pos);

delay(20); // waits 15ms for the servo to reach the position

}

// middle.write(90);

//delay (500);

delay(50);

middle.detach();

//hand();

// left trun=180

middle.attach(middlepin); // attaches the servo on pin 9 to the servo object

for (pos = 90; pos <= 180; pos += 1) { // goes from 0 degrees to 180 degrees

// in steps of 1 degree

middle.write(pos);

delay(20); // waits 15ms for the servo to reach the position

}

//middle.write(180);

delay (50);

middle.detach();

//back middle =90

middle.attach(middlepin); // attaches the servo on pin 9 to the servo objectclawV.write(90);

for (pos = 0; pos <= 90; pos += 1) { // goes from 0 degrees to 180 degrees

// in steps of 1 degree

middle.write(180 - pos);

delay(15); // waits 15ms for the servo to reach the position

}

// middle.write(90);

delay (50);

middle.detach();

// hand();

}

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Wednesday, June 30, 2021

Project 14: Arduino Robot Arm Color Detection & Sorting

Project 14: Arduino Robot Arm Color Detection & Sorting

Main Ideas:

Code:

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