Aaron and Keyur's Color Sorting Robotic Arm

Hi, our names are Aaron and Keyur. We built a robotic arm that sorts legos by their color. This project was an extension of the original robotic arm. The programming was harder than the original robotic arm. To sort the blocks by color we had to attach a color sensor under the path of the robotic arm. It dropped the blue legos in one bin and the red legos in the other bin. THIS WORKED GREAT!!!!!!!!!!!!

Then we built a conveyor belt and added the conveyor belt in front of the robotic arm. We also moved the light sensor to on top of the conveyor belt. Now the robotic arm waits until the light sensor checks the color before closing the hand and taking the lego to the correct color bin. We couldn't get the robotic arm to drop the red legos in the red bin for a long time. Finally, we had the conveyor belt stop and wait a fraction of a second to let the light sensor get a better reading before the conveyor belt starts again to take the lego to the robotic arm. Now it works great!!

Below are the pictures and the procedures. The first picture is with the color sensor under the robotic arm. The second picture is with the color sensor on top of the conveyor belt.

TO PLACE.DISTANT
PICK.FROM.CHUTE
HAND.CLOSE
TALKTO "MOTORA
SETRIGHT
ON
WAITUNTIL [ ANGLE5 < -60 ]
OFF
HAND.OPEN
END

TO PLACE.LOCAL
PICK.FROM.CHUTE
HAND.CLOSE
TALKTO "MOTORA
SETRIGHT
ON
WAITUNTIL [ANGLE5 < -50]
OFF
HAND.OPEN
END

TO PICK.FROM.CHUTE
TALKTO "MOTORA
SETLEFT
ON
WAITUNTIL [ANGLE5 > 0]
OFF
END

TO HAND.OPEN
TALKTO "MOTORB
SETLEFT
ONFOR 5
END

TO HAND.CLOSE
TALKTO "MOTORB
SETRIGHT
ONFOR 5
END

TO PLACE.ALL
PLACE.LOCAL
PLACE.DISTANT
PLACE.LOCAL
END

to place.by.color
pick.from.chute
hand.close
talkto "motora
setright
on
waituntil [angle5 = -27]
off check.color
end

to check.color
if light6 > 38 [red]
if light6 <= 38 [blue]
end

to blue
talkto "motora
setright
on
waituntil [angle5 = -50]
off
hand.open
end

to red
talkto "motora
setright
on
waituntil [angle5 = -60]
off
hand.open
end

to go
repeat 3[place.by.color]
end

to go2
repeat 3[place.by.color2]
talkto "motorc off
end

to conveyor
talkto "motorc
setright
on
waituntil [light6 > 30 ]
off
wait 1
check.color2
end

to place.by.color2
pick.from.chute
conveyor
end

to check.color2
ifelse light6 > 36 [red2] [blue2]
end

to blue2
talkto "motorc on
wait 15
hand.close
talkto "motora
setright
on
waituntil [angle5 = -20]
off
hand.open
end

to red2
talkto "motorc on
wait 15
hand.close
talkto "motora
setright
on
waituntil [angle5 = -31]
off
hand.open
end

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