%{

Authors: Morgan Walli

Team: The Tater Puffs
Assignment: EGR 103-003 Code for Project
Changed: 23 April 2017
History:

Begun - 02 Feb 2017

Purpose: control mechanism for separating types of

recyclable materials

Notes: parts of this code may still be changed before the

end of the
semester
%}
%connect to arduino if needed
if ~( exist('a', 'var') && isa(a, 'arduino')) %this part of
the code is courtesy of Mr. Penn and Dr. Moore
fprintf('Arduino now connecting...'); %the similar code
below has been modified but is based on this code
a = arduino('com4', 'uno');
disp(' Connected.');
end

%create a Servo object, assign to pin D2 --> this is the

lower servo
%the pulse speeds were taken from the servo's specs
%these servos controls the pulley that guides the disks
into the bin
if ~( exist('s1', 'var') && isa(s1, 'servo')) %this part of
the code is courtesy of Mr. Penn and Dr. Moore
fprintf('Servo 1 now connecting...');
s1 = servo(a, 'D2') % 'MinPulseDuration', 500*10^-
6,'MaxPulseDuration', 2500*10^-6);
disp(' Connected.');
end
pause on %enable pause function

% S2 is the upper servo

if ~(exist('s2', 'var') && isa(s2, 'servo')) %this part of
the code is courtesy of Mr. Penn and Dr. Moore
fprintf('Servo 2 now connecting...');
 s2 = servo(a, 'D11')%'MinPulseDuration', 500*10^-
6,'MaxPulseDuration', 2500*10^-6);
disp(' Connected.');
end

%make servos not move

writePosition(s1, 0.5) % 0.5 is the value needed for this
servo to not move - not 0.5
writePosition(s2, 0.5) % 0.5 is the value needed for this
servo to not move - not 0.5

%create a Servo object, assign to pin D6

%the pulse speeds were taken from the servo's specs
%this servo control the input mechanism
if ~(exist('s3', 'var') && isa(s3, 'servo')) %this part of
the code is courtesy of Mr. Penn and Dr. Moore
fprintf('Servo 3 now connecting...');
s3 = servo(a, 'D6','MinPulseDuration', 700*10^-6,
'MaxPulseDuration', 2300*10^-6);
disp(' Connected.');
end

%create a Servo object, assign to pin D7

%the pulse speeds were taken from the servo's specs
%this servo controls the door that allows disks out of the
sensor box

if ~( exist('s4', 'var') && isa(s4, 'Servo')) %this part of

the code is courtesy of Mr. Penn and Dr. Moore
fprintf('Servo 4 now connecting...');
s4 = servo(a, 'D7','MinPulseDuration', 700*10^-6,
'MaxPulseDuration', 2300*10^-6);
disp(' Connected.');
end

writePosition (s4, 0.8) %initialize servo

% check sensors for functionality of setup

%define variables and initialize

writePosition (s4, 0.4) %initialize servo to starting

position
baselineOpacity = readVoltage(a, 'A0'); % initialize first
photoresistor; this one senses opacity
baselineReflectivity = readVoltage(a, 'A1'); %initialize
second photoresistor; this one senses reflectivity

%initialize count at 0 for all disks

clear = 0;
paper = 0;
cloth = 0;
steel = 0;
aluminum = 0;
red = 0;
sandpaper = 0;

%obtain instruction from operator

%promptOne = 'Type number of chips (use numbers not
letters): ';
%n = input (promptOne, 's'); %numchips

promptTwo = 'Type 1 to run program. Type 2 to end. Type 3

for a summary of results. Type 0 to test.';
instructionTwo = input(promptTwo, 's');

%execute appropriate command

while instructionTwo == ('0')

getBaselineOpacity = readVoltage(a, 'A0'); % test first

photoresistor; this one senses opacity
getBaselineReflectivity = readVoltage(a, 'A1'); %test
second photoresistor; this one senses reflectivity

if getBaselineOpacity == 0 %test reading

fprintf('ERROR 1!!!\n')

elseif getBaselineReflectivity == 0 %test reading

fprintf('ERROR 2!!!\n')

%print results
else
fprintf('All SYSTEMS GO!!! \n Inital test opacity: %d
\n Initial test reflectivity: %d \n', getBaselineOpacity,
getBaselineReflectivity);
end
 %obtain intruction
promptTwo = 'Type 1 to run program. Type 2 to end. Type
3 for a summary of results. Type 0 to test.';
instructionTwo = input(promptTwo, 's');
end

%execute instruction

while (instructionTwo == ('1'))

for (i = 0:7)

%run program

%start input mechanism

writePosition(s3, 0); %move servo disk out of PVC loading
area; prep-stage

pause(1) %pause

writePosition(s3, 0.65); %return servo to previous position

and push disk out

pause (2) %delay to allow disk to settle over

testOpacity = readVoltage(a, 'A0'); % obtain reading from

first photoresistor; this one senses opacity
testReflectivity = readVoltage(a, 'A1'); %obtain reading
from second photoresistor; this one senses reflectivity

%determine value at checkPoint and send disk to appropriate

location
if (testOpacity <= baselineOpacity + 0.5 && testOpacity >=
baselineOpacity - 0.3 && testReflectivity > 1 ) % determine
if chip is clear
fprintf('testOpacity: %d \n testReflectivity: %d \n
Identity: clear \n', testOpacity, testReflectivity) %print
results

%move pulley

writePosition(s1, 0.6) %move servo 1

writePosition(s2, 0.0) %move servo 2

pause(2.5) %pause to move belt as needed

writePosition(s1, 0.5) %for this servo 0.5 is off - not

0.5
writePosition(s2, 0.5) %for this servo 0.5 is off - not
0.5

pause(2)

writePosition(s4, 0.05) %open door to allow disk

through

pause (2) %pause

writePosition(s4, 0.4) %reset servo 4

pause (2)

writePosition(s1, 0.0) %move servo 1

writePosition(s2, 0.6) %move servo 2

pause(2.5) %pause to move belt as needed

writePosition(s1, 0.5) %for this servo 0.5 is off - not

0.5
writePosition(s2, 0.5) %for this servo 0.5 is off - not
0.5

clear = clear +1; %add one to the "clear" count

elseif (testOpacity<= baselineOpacity - 0.2 && testOpacity

>= baselineOpacity - 0.6) % determine if chip is cloth

fprintf('testOpacity: %d \n testReflectivity: %d \n
Identity: cloth \n', testOpacity, testReflectivity) %print
results

%move pulley

writePosition(s1, 0.6) %move servo 1

writePosition(s2, 0.0) %move servo 2
pause(1.5) %pause to move belt as needed

writePosition(s1, 0.5) %for this servo 0.5 is off - not

0.5
writePosition(s2, 0.5) %for this servo 0.5 is off - not
0.5

writePosition(s4, 0.05) %open door to allow chip through

pause (2)

writePosition(s4, 0.4) %reset system

writePosition(s1, 0.0) %move servo 1

writePosition(s2, 0.6) %move servo 2

pause(1.5) %pause to move belt as needed

writePosition(s1, 0.5) %for this servo 0.5 is off - not

0.5
writePosition(s2, 0.5) %for this servo 0.5 is off - not
0.5

cloth = cloth + 1; %add one to the count

elseif (testOpacity < 1.5) % deterine if there is a low

opacity

if (testReflectivity >= baselineReflectivity - 2.4 &&

testReflectivity <= baselineReflectivity - 1.1) %determine
if chip is steel

fprintf('testOpacity: %d \n testReflectivity: %d \n
Identity: Steel \n', testOpacity, testReflectivity) %print
results

%move pulley
writePosition(s1, 1.0) %move servo 1
writePosition(s2, 0.0) %move servo 2

pause(1) %pause to move belt as needed

 writePosition(s1, 0.5) %for this servo 0.5 is off - not
0.5
writePosition(s2, 0.5) %for this servo 0.5 is off - not
0.5

writePosition(s4, 0.05) %open door to allow chip

through

pause (2) %pause

writePosition(s4, 0.4) %reset system

writePosition(s1, 0.0) %move servo 1

writePosition(s2, 1.0) %move servo 2

pause(1) %pause to move belt as needed

writePosition(s1, 0.5) %for this servo 0.5 is off - not

0.5
writePosition(s2, 0.5) %for this servo 0.5 is off - not
0.5

steel = steel + 1; %add one to the "steel" count

else(testReflectivity >= baselineReflectivity - 1 &&

testReflectivity <= baselineReflectivity - 0.1); %determine
if chip is aluminum

fprintf('testOpacity: %d \n testReflectivity: %d \n
Identity: Aluminum \n', testOpacity, testReflectivity);
%print results

%move pulley

writePosition(s1, 0.6) %move servo 1

writePosition(s2, 0.0) %move servo 2

pause(0.5) %pause to move belt as needed

writePosition(s1, 0.5) %for this servo 0.5 is off - not

0.5
 writePosition(s2, 0.5) %for this servo 0.5 is off - not
0.5

writePosition(s4, 0.05) %open door to allow chip

through

pause (2) %pause

writePosition(s4, 0.4) %reset system

writePosition(s1, 0.0) %move servo 1

writePosition(s2, 0.6) %move servo 2

pause(0.5) %pause to move belt as needed

writePosition(s1, 0.5) %for this servo 0.5 is off - not

0.5
writePosition(s2, 0.5) %for this servo 0.5 is off - not
0.5

aluminum = aluminum + 1; %add one to the "alumunim"

count

end

elseif (testOpacity <= baselineOpacity && testOpacity >=

0.5) %determine if chip is paper by process of elimination
with values

fprintf('testOpacity: %d \n testReflectivity: %d \n
Identity: paper \n', testOpacity, testReflectivity) %print
results

%move pulley
writePosition(s1, 0.6) %move servo 1
writePosition(s2, 0.0) %move servo 2

pause(2) %pause to move belt as needed

writePosition(s1, 0.5) %for this servo 0.5 is off - not

0.5
writePosition(s2, 0.5) %for this servo 0.5 is off - not
0.5
 writePosition(s4, 0.05) %open door to allow chip
through

pause (2) %pause

writePosition(s4, 0.4) %reset system

writePosition(s1, 0.0) %move servo 1

writePosition(s2, 0.6) %move servo 2

pause(2) %pause to move belt as needed

writePosition(s1, 0.5) %for this servo 0.5 is off - not

0.5
writePosition(s2, 0.5) %for this servo 0.5 is off - not
0.5

paper = paper + 1; %add one to the "paper" count

else
fprintf('ERROR with sensor!!! \n') %print that there is
an error if the chip doesnt appear to be anything

fprintf('testOpacity: %d \n testReflectivity: %d \n',

testOpacity, testReflectivity) %print the readings for the
error
end

end

%obtain instruction
%promptOne = 'Type number of chips (use numbers not
letters): ';
%numChips = input (promptOne, 's');

promptTwo = 'Type 1 to run program. Type 2 to end. Type 3

for a summary of results. Type 0 to test.';
instructionTwo = input(promptTwo, 's');

end

totalCount = (clear + paper + cloth + steel + aluminum +

red + sandpaper); %create total count
%execute instruction
while instructionTwo ==('2')

%turn off feeding mechanism

writePosition(s1, 0.5); %turn off servo

fprintf('Program ended.\n'); %print command

fprintf('SUMMARY \n clear plastic: %d \n paper: %d \n

cloth: %d \n metals: %d \n', clear, paper, cloth, metals)
%print summary of results

%obtain instruction
promptTwo = 'Type 3 for a summary of results.';
instructionTwo = input(promptTwo, 's');

end

%execute instruction
while instructionTwo == ('3')

fprintf('SUMMARY \n Clear: %d \n Paper: %d \n Cloth: %d

\n Steel: %d \n Aluminum: %d \n Red: %d \n Sandpaper: %d \n
Total: %d \n', clear, paper, cloth, steel, aluminum, red,
sandpaper, totalCount) %print summary of results
results = [clear, paper, cloth, steel, aluminum, red,
sandpaper]; % create array for number of each material
bar(results) %graph the results on a bar graph

set(gca,'XTickLabel',{'Clear', 'Paper', 'Cloth',

'Steel', 'Aluminum',}); %set labels for bar graph

%obtain instruction from operator

promptTwo = 'Type 1 to run program. Type 2 to end. Type
3 for a summary of results. Type 0 to test.';
instructionTwo = input(promptTwo, 's');

end

%obtain instruction from operator

promptTwo = 'Type 1 to run program. Type 2 to end. Type 3
for a summary of results. Type 0 to test.';
instructionTwo = input(promptTwo, 's');