STONYPOINTHSROUNDROCKISD

DesignProblemMarbleSorter
Project3.3.1VEXandRobotC

IsraelMedina,ClaytonMontgomery,DallasWinnie

April4th,2016

TABLEOFCONTENTS
DesignBrief
FinalDesignPictures
RobotCCode
Reflections
References
Appendices
DispenserBrainstorming
SorterBrainstorming
BinsBrainstorming
DesignModifications

DESIGNBRIEF
ClientCompany:

NationalRecreationandParkAssociation(NRPA)

TargetConsumer:

Society

Designer(s):

IsraelMedina,ClaytonMontgomery,andDallasWinnie

Problem
Statement:

TheNationalRecreationParkAssociation(NRPA)has
askedyourteamtodevelopasolutiontoagrowing
problemintheirparks.Theassociationhasplaced
dumpstersforrecyclablematerialthroughouttheparks.
Theyhaveasortingfacility;however,theyneedadevice
thatwillsorttherecyclablematerial.

DesignStatement:

Design,model,andtestadevicethatwillseparate
recyclablematerials.

Problem
Statement:

1.Separationprocessmustbefullyautomated.
2.Mustsuccessfullyseparatecommingledrecyclable
materialsintoindividualholdingbins.
3.Recyclablematerialsinclude3differentin.material
spherestotaling15.Examplescouldincludesteel,
aluminum,wood,opaqueplastic,andclearplastic.
4.Mustbeefficient2minutemaxforcompletionof
sortingprocess.
5.Mustnotbelargerthan24Lx12Wx18H
6.Mustmakeefficientuseofmaterials.

FINALDESIGNPICTURES
Dispenser:

Sorter:

Bins:

FinalProduct:

ROBOTCCODE
#pragma
config(Sensor,in1,sensor,sensorReflection)
#pragma
config(Sensor,dgtl1,green,sensorLEDtoVCC)
#pragma
config(Sensor,dgtl2,yellow,sensorLEDtoVCC)
#pragma
config(Sensor,dgtl3,buttonstart,sensorTouch)
#pragma
config(Motor,port2,servo,tmotorServoStandard,openLoop)
#pragma
config(Motor,port3,servo2,tmotorServoStandard,openLoop)
#pragma
config(Motor,port4,servo3,tmotorServoStandard,openLoop)
#pragma
config(Motor,port10,flashlight,tmotorVexFlashlight,openLoop,reversed)
//*!!Codeautomaticallygeneratedby'ROBOTC'configurationwizard!!*//
//*CodewrittenbyDallasWinneforPrinciplesofEngineeringandthemarblesorter
project*//
taskmain()
{
while(true)//Whileearthrevolvesaroundthesun
{
turnFlashlightOn(flashlight)//Activatetheflashlight
repeat(15)

//Repeatfifteentimes

{
wait(1)

//Waitasecond

setServo(servo,120)

//Pushthebaruptogetonemarble

wait(1)

//Waitasecond

setServo(servo,0)

//Resetthebar

wait(3)

//Givethemarblesometime

if((SensorValue(sensor)>=500))
{
setServo(servo3,127)

//Somethingbright?

//settheactivecuptocup1

}
if((SensorValue(sensor)<=500))

//Somethingnotsobright?

{
setServo(servo3,127) //settheactivecuptocup0
}
setServo(servo2,127)

//Setthestopperservoup

wait(0.5)

//waitforamarbletogetthrough

setServo(servo2,0)

//putthestopperthingbackdown

//Returntoline16

startMotor(port5,17)

//pushtheremainingmarblesout

wait(3)

//wait3

stopMotor(port5)

//stopthemotor.

}
}

REFLECTIONS
A)Howwelldidyouaccomplishyourobjectives,discussyoursuccessforEACHofthe6
constraints
Wedidafairlywelljobatstayingundertheconstraints.Itmetalloftherequirements,howeverwe
foundourselvesgoingalittleoverboardsometimes.Ourmachinecontainedbitsandpiecesfromalotof
smallergroupsmachinesandweusedalotofgussetangles.Ourmachinedidstaywithinourheight
constraintbutwefoundourselvesmakingthebaseplatebiggerbyaddingontothebottom.Infuture,we
willtrytostayonthesimplesideofthingstohelpminimizepartsandtohelpminimizetheprobabilityof
thingsbreaking.

B)Whatwouldyourteamdodifferentlywithyourdesignsolution(min3things)andwhy?
1. Besimpler.Thisconceptwaseasilyforgottenwhenwedgetcaughtupindeadlinesandmixups.
Sometimeswewouldtryanideajusttoseeofitwouldwork,andifitdidwekeptitwithout
thinkingaboutlongtermeffectsorgoals.Weallgotcaughtupinwantingtofinishandnotbe
behindthatifsomethingworked,wekeptit.Regardlessofitscomplexity.
2. Beefficient.Ourmachinewascalledarollercoasterbymostwithmetalthatwouldtwistand
turnandclashatnearlyeverycorner.Wecould'vemadeitrunmoresmootherandfaster.
Increasedefficiencywouldalsogoalongwithbeingmoresimple.Efficiencywillbetakeninto
accountnexttime(hopefully)
3. Don'tbewasteful.Weusedalotofunnecessarypartsbuteachpartwasstillnecessary.Wehada
multitudeofpartsbutwithoutthemthemachinewouldn'thaveworked.Sotryingtogetmore
fromless.
C)Dotheresultsfulfilltheproblemstatement,ifnotwhatwasmissing
Yes.Ourdevicecanproperlysortthematerialsandwhenit'sinsideatrashcannoonecanseethe
complexity,onlyit'sabilitytodotheworkinunder2mins.Similartoaprinter.Nice,dull,simple
outside,butinsideyoucanseealotofinterworkingparts.

D)Ifyouhadmoretime,whatwouldyoudodifferentlyorwhatwouldyouadd
.
Ifwehadmoretimewewouldveaddedthesortertothedispensermadethedispensermuchmoretimeefficient,
rightnotittookafewsecondstoidentifywhichtypeofballitwasbetterbins,onesthatweren'tsofragileor
smallandtakenoffalltheexcessparts.

REFERENCES
https://www.youtube.com/watch?v=bB3n3Zs259U
Marblesorterwithlimitswitch,flashlight,servomotor,andmovingbuckets.

https://www.youtube.com/watch?v=pSz0ueOfX5M
BigMarblesorter.fourwaystopper.Thereisawallthattheballhits.Thenitgoesdownasmallerramp.
Servousedtoallowentryintocertainbucket.

http://bpabrinton.weebly.com/marblesorter.html
Examplemodelandexamplecodefordistributingbasedoncode

https://www.youtube.com/watch?v=pbOEmqHfaqo

https://www.youtube.com/watch?v=RR5xUUI5x00

.
https://www.youtube.com/watch?v=rpqIDKP5bBc

https://www.youtube.com/watch?v=pbOEmqHfaqo&spfreload=5#t=35.582

https://www.youtube.com/watch?v=v7kstvMNOho

https://www.youtube.com/watch?v=R2NrEtA0fc

https://www.youtube.com/watch?v=tsHOX_K9qE
https://www.youtube.com/watch?v=rpqIDKP5bBc

https://www.youtube.com/watch?v=P87aMXONZi0

https://www.youtube.com/watch?v=KIAWEGQSGU

http://www.vexrobotics.com/wiki/images/c/cb/VEX_Machinations071108.pdf

http://kniptashprinciplesofengineering.weebly.com/marblesorter.html

APPENDICES
Themarblesorterwasefficientandproperlymade.Itincludedpartsfromalmosteveryrobotsuchasa
pusheratthedispenser,aweightsorter,androtatingcupsalongwithanoriginalideaforadispenser
whichweutilizedaprotrudingscrewandwereabletomovemarblesoneatatimebypushingthem
individuallyoverthescrew.Theunofficialnameforourrobotwasgussetopolis,weirdone,failure,
monster,rollercoaster,andmypersonalfavorite,heywhatareyoudoingwithallthosepartsitwill
neverwork.
(sidenote:Ididn'tseeanyredtextonwhattoputheresoigoogledwhatanappendixisforanditisused
forandmyresultwas

Appendicesallowyoutoincludedetailedinformationinyourpaperthatwould

bedistractinginthemainbodyofthepaper.Examplesofitemsyoumighthaveinanappendixinclude
mathematicalproofs,listsofwords,thequestionnaireusedintheresearch,adetaileddescriptionofan
apparatususedintheresearch,etc.Ihopethatwascorrect.

DISPENSERBRAINSTORMING

Criteria

Ideas

SIMPLICI PARTS
TY

TIME

EFFECTI
VE

BUILD
ABLE

EFFICIE
NT

WEW
LAD

13

MEDIAT
OR

22

COIN
GAME

LAST
4
RESORT

24

Key:4best1worst
Mustincludeaminimumof4criteria.

Total
s

SORTERBRAINSTORMING

BINSBRAINSTORMING

PARTSLIST
1xBasePlate
10xchassisrail2x1x16
2xservomotors
2xgussetpivot
1x17inlonglinearslidetrack
15xAssortedMarbles
2xcups
3xstandoff2
5xbar1x25holescutshort
1xchainlink
2x12toothsprocket
2x3DriveShaft
8xCchanel1x2x1x15
6xBearingflat
10xgussetangles
4xgussetplus
6xbar1x25
16xplates
1xLED
1xLightSensor
1xFlashlight
2x84toothgear
1x19toothrackgear
1xpartridgeinapeartree

DESIGNMODIFICATIONS