// The Mailroom Marvels - EDNS151 Project

// Color Recognition and Sorting of Packages

// Code by Amanda Aurigemma

 

#include <Servo.h>

#include <Adafruit_TCS34725.h>

 

Servo Servo0;

Servo Servo1;

Servo Servo2;

Servo Servo3;

Servo Servo4;

 

int frequency = 0;

int color=0;

 

Adafruit_TCS34725 tcs = Adafruit_TCS34725 ( TCS34725_INTEGRATIONTIME_50MS, TCS34725_GAIN_1X );

 

void setup() {

Serial.begin(9600);

 

Servo0.attach(7);

Servo1.attach(12);

Servo2.attach(11);

  Servo3.attach(10);

  Servo4.attach(9);

 

  Servo0.write(45);

  Servo1.write(45);

  Servo2.write(60);

  Servo3.write(60);

  Servo4.write(60);

}

 

void loop() {

 

uint16_t clearcol, red, green, blue;

float average, r, g, b;

delay ( 100 );

tcs.getRawData ( & red, & green, & blue, & clearcol );

 

average = ( red + green + blue ) / 3;  

r = red / average;

g = green / average;

b = blue / average;

 

if ( ( r > 1.4 ) && ( g < 0.9 ) && ( b < 0.9 ) ) { // red

      Servo1.write(0); // activate sorting gate

      delay(1000);

      Servo0.write(10); // lower platform

      delay(1000);

      Servo1.write(15); // slowly close sorting gate

      delay(500);

     Servo1.write(30);

     delay(500);

      Servo1.write(45);

      Servo0.write(45); // return platform to original position

}

 

else if ( ( r < 0.95 ) && ( g > 1.4 ) && ( b < 0.9 ) ) { // green

      Servo2.write(0);

     delay(1000);

     Servo0.write(10);

      delay(1000);

     Servo2.write(15);

     delay(500);

      Servo2.write(30);

      delay(500);

      Servo2.write(45);

      delay(500);

      Servo2.write(60);

      Servo0.write(45);

}

 

else if ( ( r < 0.8 ) && ( g < 1.2 ) && ( b > 1.2 ) ) {  // blue

      Servo3.write(5);

      delay(1000);

      Servo0.write(10);

      delay(1500);

      Servo3.write(15);

      delay(500);

      Servo3.write(30);

      delay(500);

      Servo3.write(45);

      delay(500);

      Servo3.write(60);

      Servo0.write(45);

}

 

else if ( ( r > 1.15 ) && ( g > 1.15 ) && ( b < 0.7 ) ) {  // yellow

     Servo4.write(5);

     delay(1000);

     Servo0.write(10);

     delay(3000);

     Servo4.write(15);

     delay(500);

     Servo4.write(30);

     delay(500);

     Servo4.write(45);

     delay(500);

     Servo4.write(60);

     Servo0.write(45);

}

 

else{ //if input isn’t recognized, motor positions reset - future iterations should improve on this

     Servo0.write(45);

     Servo1.write(45);

     Servo2.write(60);

     Servo3.write(60);

     Servo4.write(60);

   }

}