STONY POINT HS -- ROUND ROCK ISD

Design Problem Marble Sorter

Project 3.3.1 VEX and RobotC
Jacob Fisher, Darius Millerd, Dominick Diaz
4/11/2016

TABLE OF CONTENTS
Design Brief
Final Design Pictures
RobotC Code
Reflections
References
Appendices
Dispenser Brainstorming
Sorter Brainstorming

Bins Brainstorming
Design Modifications

DESIGN BRIEF
Client
Company:

National Recreation and Park Association (NRPA)

Target
Consumer:

Society

Designer(s):
Problem
Statement:

Design
Statement:
Problem
Statement:

Jacob Fisher, Darius Millerd, Dominick Diaz

The National Recreation Park Association (NRPA)
has asked your team to develop a solution to a
growing problem in their parks. The association
has placed dumpsters for recyclable material
throughout the parks. They have a sorting facility;
however, they need a device that will sort the
recyclable material.
Design, model, and test a device that will separate
recyclable materials.

1. Separation process must be fully automated.

2. Must successfully separate commingled
recyclable materials into individual holding bins.
3. Recyclable materials include 3 different -in.
material spheres totaling 15. Examples could
include steel, aluminum, wood, opaque plastic,
and clear plastic.
4. Must be efficient2 minute max for completion
of sorting process.
5. Must not be larger than 24L x 12W x 18H
6. Must make efficient use of materials.

FINAL DESIGN PICTURES

<Include pictures of your final robot. You must have a minimum of 2 pictures of each part
of your project Dispenser, Sorter, and Bins, as well as at least 2 over all pictures of your
robot.>
BINS

SORTER

DISPENSER

OVERALL PICTURES

ROBOTC CODE
<Cut and paste copy of code. Be sure you have pseudo-code on every line>
int sort1();

//Initializes the sort1 function

task main()

//

{
int i=0;

//Initializes i with a value of 0

while (i<20)

//while i is less than 20

{
stopMotor(Near);

//stops the flash light

turnLEDOff(clearLED);

//turns LEDs off

turnLEDOff(woodLED);

//turns LEDs off

turnLEDOff(alLED);

//turns LEDs off

startMotor(Near, 127);

//starts flashlight

startMotor(Dispense, -12);

//sorter starts dispensing

wait(1);

//waits 1 second

stopMotor(Dispense);

//stops dispensing after 1 second

if (sort1()==0)

//

setServo(Bin, -127);
if (sort1()==1)

//
//

setServo(Bin, 127); //
if (sort1()==2)
setServo(Bin, 0);
I++;

//
//
//adds 1 to i making the loop reset

}
startMotor(Dispense, 127);

//

setServo(Bin, 0);

//

wait(0.5);

//waits 0.5 seconds

stopMotor(Dispense);

//

}
int sort1()

//continues to initialize the sort1 method

if (SensorValue(SensSort) <= 200)

return 0;

//if SensSort detects a value less than 200...

//return 0

else if (SensorValue(SensSort) >= 750 && SensorValue(SensSort) <= 890)

//if SensSort detects a value between 750 and 800...
return 1;

//retrun 1

else if (SensorValue(SensSort) >= 900)//if SensSort detect a value greater than 900
return 2;
Else

//return 2
//if there is a problem...

return -1;

///return -1

Dispenser:

Pseudo Code
While True
If Sorting Sensor Detects something
Start Motor
Wait X Seconds
Stop Motor

// Checks constantly
// Use the same sensor detect marbles and sort
// Starts the Motor
// Waits however long it takes to knock a marble off
// Stop the Motor

Sorter:

PSEUDO CODE
Create a new method called sort
Start the far flashlight
wait 0.1 seconds
if sensor value = clear marble
Start LED clear
wait
stop
stop the far flashlight
start near flashlight
wait 0.1 seconds
if sensor value = wood/aluminium marble (not sure which is easiest to detect yet)
Start LED wood/aluminium

wait
stop
else
start LED other one
stop near flashlight
put the sort method in right before the wait in the dispenser code.
Bins:

Pseudo Code
While True
If Sorting Sensor Detects wood
Set Motor to wood angle
Wait X Seconds
Set motor to original angle

// Checks constantly
// When a wooden marble is detected
// Rotates bin into position
// Waits however long it takes to knock a marble off
// Returns bins to starting position

REFLECTIONS
A) How well did you accomplish your objectives, discuss your success for EACH of the 6
constraints (Constraints from the design brief are: (1) Separation process must be fully
automated. (2) Must successfully separate commingled recyclable materials into
individual holding bins. (3) Recyclable materials include 3 different -in. material spheres
totaling 15. Examples could include steel, aluminum, wood, opaque plastic, and clear
plastic. (4) Must be efficient2 minute max for completion of sorting process. (5) Must not
be larger than 24L x 12W x 18H (6)Must make efficient use of materials. )?

In the project with our robot we did successfully make sure that the separation process was in
fact fully automated. Although we did have a difficult with the individual separation of our 3
types of marbles: wood, aluminum, and the clear plastic, we did manage to achieve the
separation of the marbles into their individual holding bins. With efficiency we also did conduct
experiments of the robot and the process and did not pass the 2 minute mark. The machine
was also not larger than the limitations of 24L x 12W x 18H. Lastly we as a group did
decide that we could have made a more efficient robot but within the time period was as good
as it was going to get.
B) What would your team do differently with your design solution (min 3 things) and why?
We would most definitely change the track design itself, marble would in the earlier stage get
caught underneath the bar that pushes the marbles and had constant changes made to it.
Secondly the materials used for the track that holds the marble unsorted, we had trouble
finding a correct placement for the sensor and couldnt get the best reads. Lastly to differ our
design solution we decided we would change the vex piece that our bins sit on, we have a 5x5
plate currently but we felt we could turn the bins more easy with some sort of gear.

C) Do the results fulfill the problem statement, if not what was missing (The problem
statement from the design brief is The National Recreation Park Association (NRPA) has
asked your team to develop a solution to a growing problem in their parks. The
association has placed dumpsters for recyclable material throughout the parks. They have
a sorting facility; however, they need a device that will sort the recyclable material.) ?

Our machine did meet the problem statement and was able to sort the recyclable materials as
promised to the NRPA.
D) If you had more time, what would you do differently or what would you add . (Give a
minimum of one thing for each PART: Dispenser, Sorter, Bins)

Things we would probably do differently would be broken down into the three sections of the
machine. With the dispenser we would definitely change the section in a whole, the pushing
type of rail track that we did have cause quite a few problems along the project. Changes to
the sorter would most likely be adding some sort of access gate to fall into the bins at the end
of the dispenser so the marble could be properly read by the sorter and fall one at a time.
Lastly with the bins much wouldnt be done to it besides maybe a different placement of the
motor system spinning the bins because in early stage it was prone to not catching the
marbles at all.

REFERENCES
Dispenser:
https://www.youtube.com/watch?v=mq9q89JTWK8
https://prezi.com/unvo7fc9zo0v/project-331-design-problem-marble-sorter/
https://www.youtube.com/watch?v=v7kstvMNOho
http://www.schooltube.com/video/35826ad08e476af29fed/PLTW-POE-VEX-material-sorter
https://www.youtube.com/watch?v=EV92YD1_Sd4

Sorter:
https://www.youtube.com/watch?v=7hkcfO7Bh44
https://www.youtube.com/watch?v=pSz0ueOfX5M
https://www.youtube.com/watch?v=pY_BJihqAzo
https://www.schooltube.com/video/11f8fa6a01ab4dbfaf14/Marble%20Sorter%20Machine
www.youtube.com/watch?v=BdfsRS8z8fY
Bins:
bpabrinton.weebly.com/marble-sorter.html
https://www.youtube.com/watch?v=cWHtXjfCrIQ
https://www.youtube.com/watch?v=Ta0zbL6Doqk
https://www.youtube.com/watch?v=tsHOX-_K9qE
rmhspoe.blogspot.com/2014_05_01_archive.html

APPENDICES?

DISPENSER BRAINSTORMING
< Include your teams initial sketches, decision matrix and final sketches for the dispenser
portion here.>
INITIAL SKETCH #1

INITIAL SKETCH #2

INITIAL SKETCH #3

INITIAL SKETCH #4

DECISION MATRIX

FINAL SKETCH

SORTER BRAINSTORMING
< Include your teams initial sketches, decision matrix and final sketches for the sorter
portion here.>
INITIAL SKETCH #1

INITIAL SKETCH #2

INITIAL SKETCH #3

INITIAL SKETCH #4

DECISION MATRIX

FINAL SKETCH

BINS BRAINSTORMING
< Include your teams initial sketches, decision matrix and final sketches for the bins
portion here.>
INITIAL SKETCH #1

INITIAL SKETCH #2

INITIAL SKETCH #3

INITIAL SKETCH #4

DECISION MATRIX

FINAL SKETCH

PARTS LIST
< Make one complete list of all parts used, You do not need to include: Screws, nuts,
rivets, shaft collars, shafts, standoffs, spacers, or washers. All other parts should be
included, include the CORRECT name for each part along with how many of each part were
used.>
Dispenser:

PARTS LIST GROUP 18

36 tooth gear
C-channel (x2)
Long linear slide track
2-wire motor
19 tooth rack gear (x7)
Chassis rail 2x1x25 (x4)
Motor Drive Shaft
Base plate
Sorter:

PARTS LIST GROUP 18

2x Flashlight (If enough flashlights for us to have 2)
1x Light Sensor
(The rest of the materials would be from our box, screws, keps, etc. Most of the work with our sorter
would be done in coding)
Bins:

PARTS LIST GROUP 18

Winch Bracket
Servo Motor
5x5 Plate

DESIGN MODIFICATIONS
< Include all your teams design modifications here.>