I need help with a project I'm working on—an automatic bottle sorting machine that uses inductive, capacitive, and ultrasonic sensors. The original design of the project uses NPN normally closed inductive and capacitive proximity sensors. However, I only have NPN normally open inductive and capacitive sensors. What changes might I need to make in the code to make it work with the sensors I have?
#include <Servo.h>
Servo Pipe_Servo;
Servo Gate_Servo;
// define the variables
int sensorInd = A0; //Pin A0 (analog)
int sensorpin = 2; //Digital Pin nr. 2
int indValue;
const int trigPin = 7;
const int echoPin = 8;
int i=0;
float Pipe_Pos=0.0;
float Gate_Pos=0.0;
int n=0;
long duration;
int distance;
float metalDetected;
void setup() {
pinMode(trigPin, OUTPUT); // trigPin=output
pinMode(echoPin, INPUT); // echoPin = input
Serial.begin(9600); // Starts the serial communication
// Codes that run only once[
//--System Initialization--
Pipe_Pos=Pipe_Servo.read();//Read the last value given to Pipe servo
Gate_Pos=Gate_Servo.read();//Read the last value given to Pipe servo
Serial.println("Motor_PIPE Position");
Serial.println(Pipe_Pos);
Serial.println("Motor_GATE Position");
Serial.println(Gate_Pos);
delay(5000);
Pipe_Servo.attach(11);
if (Pipe_Pos<90){
for(i=Pipe_Pos; i<=90; i=i+1){
Pipe_Servo.write(i);
delay(15);
}
}
else {
for(i=Pipe_Pos; i>=90; i=i-1){
Pipe_Servo.write(i);
delay(15);
}
}
delay(1000); //Delay (wait) for servo pipe to go to the bin.
//Next rotate the gate servo.
//And control the speed of Gate Servo.
Gate_Servo.attach(10);
for(n=0; n<=45; n=n+1){ //Choose the right angle for Gate servo
Gate_Servo.write(n);
delay(20); //Controll the speeed of Gate servo
}
delay(1000); //Delay (wait) and then bring back the Gate_Servo to its
//initial position.
//Bring Back Gate_Servo to initial position
//So from actual position 2-> n=45; we go backwards up to n=0.
for(n=45; n>=0; n=n-1){
Gate_Servo.write(n);
delay(25); //Control the speed of Gate servo
}
delay(5000);
//--System Initialization--//
// Codes that run only once]
}
void loop() {
//delay(100);
delay(3000);
// Clears the trigPin
digitalWrite(trigPin, LOW);
delayMicroseconds(10);//
// Sets the trigPin on HIGH state for 10 micro seconds
digitalWrite(trigPin, HIGH);
delayMicroseconds(30);//it was 1
digitalWrite(trigPin, LOW);
// Reads the echoPin, returns the sound wave travel time in microseconds
duration = pulseIn(echoPin, HIGH);
// Calculating the distance
distance= duration*0.034/2;
// Prints the distance on the Serial Monitor
Serial.print("Distance: ");
Serial.println(distance);
indValue=analogRead(sensorInd);//Save value that is read from the analog pin A0 to the variable indValue
delay(10);
int sensorstate = digitalRead(sensorpin); // Digital value for Capacitive S.
delay(500);
metalDetected = (float)indValue*100/1024.0; //from analog value
delay(50);
Pipe_Pos=Pipe_Servo.read();//Read the actual position of Pipe servo
Gate_Pos=Gate_Servo.read();//Read the actual position of Gate servo
//**METAL DETECTED**/
/ if(indValue>=250 && sensorstate == 1 && distance<=14)
if(indValue>=250){
Serial.println("Metal Detected");
Pipe_Pos=Pipe_Servo.read();//Read the last value given to Pipe servo
Gate_Pos=Gate_Servo.read();//Read the last value given to Pipe servo
Serial.println("Motor_PIPE Position");
Serial.println(Pipe_Pos);
Serial.println("Motor_GATE Position");
Serial.println(Gate_Pos);
Serial.println("Motor to metal bin");
delay(100);
//Wait for some time after the measurements and move servo to
//the corresponding bin
//For initial position of servo_gate/PIPE in this case the read function will give us the last position of servo
//in degree
//Go to the second position of the PIPE servo @90 degree
//To control the speed of the servo we do this for loop.
//We have 2 cases 1; when pipe is somewhere in position greater then 90, in this particular case we want to go to 90 so we have to loop back.
//The other case is to loop forward i=i+1, (meaning to increase the angle in incremental manner).
if (Pipe_Pos<90){
for(i=Pipe_Pos; i<=90; i=i+1){
Pipe_Servo.write(i);
delay(15);
}
}
else {
for(i=Pipe_Pos; i>=90; i=i-1){
Pipe_Servo.write(i);
delay(15);
}
}
delay(1000); //Delay (wait) for servo pipe to go to the bin.
//Next rotate the gate servo.
//And control the speed of Gate Servo.
for(n=0; n<=45; n=n+1){
Gate_Servo.write(n);
delay(20);
}
delay(1000); //Delay (wait) and then bring back the Gate_Servo to its initial position.
//Bring Back Gate_Servo to initial position
//So from actual position 2--> n=45; we go backwards up to n=0.
for(n=45; n>=0; n=n-1){
Gate_Servo.write(n);
delay(25);
}
//**METAL DETECTED**//
//**PLASTIC DETECTED**//
}
else if(indValue<=250 && sensorstate == 1 && distance<=15){ //NO NO state
delay(100);
Serial.println("Plastic Detected");
Pipe_Pos=Pipe_Servo.read();//Read the last value given to Pipe servo
Gate_Pos=Gate_Servo.read();//Read the last value given to Pipe servo
Serial.println("Motor_PIPE Position");
Serial.println(Pipe_Pos);
Serial.println("Motor_GATE Position");
Serial.println(Gate_Pos);
Serial.println("Motor to Plastic Bin");
delay(100);
//Wait for some time after the measurements and move servo to
//the corresponding bin
//For initial position of servo_gate/PIPE in this case the read function will give us the last position of servo
//in degree
//Go to the second position of the gate Pipe_Servo in degree (145) for Plastic
//To control the speed of the servo we do this for loop.
//We have 2 cases 1; when pipe is somewhere in position greater then 145, in this particular case we want to go to 145 so we have to loop back.
//The other case is to loop forward i=i+1, (meaning to increase the angle in incremental manner)until we reach the desired angle.
if (Pipe_Pos<145){
for(i=Pipe_Pos; i<=145; i=i+1){
Pipe_Servo.write(i);
delay(15);
}
}
else {
for(i=Pipe_Pos; i>=145; i=i-1){
Pipe_Servo.write(i);
delay(15);
}
}
delay(1000); //Delay (wait) for servo pipe to go to the bin.
//Next rotate the gate servo.//This remains the same for all other cases
//And control the speed of Gate Servo.
for(n=0; n<=45; n=n+1){
Gate_Servo.write(n);
delay(20);
}
delay(1000); //Delay (wait) and then bring back the Gate_Servo to its
//initial position.
//Bring Back Gate_Servo to initial position
//So from actual position 2--> n=45; we go backwards up to n=0.
for(n=45; n>=0; n=n-1){ //Choose the right angle for Gate servo
Gate_Servo.write(n);
delay(25); //Controll the speeed of Gate servo (it can be a litle faster now)
}
//delay(100);
}
//**PLASTIC DETECTED**//
//**GLASS DETECTED**//
else if(indValue<=250 && sensorstate != 1 && distance<=14){
Serial.println("Glass Detected");
Pipe_Pos=Pipe_Servo.read();//Read the last value given to Pipe servo
Gate_Pos=Gate_Servo.read();//Read the last value given to Pipe servo
Serial.println("Motor_PIPE Position");
Serial.println(Pipe_Pos);
Serial.println("Motor_GATE Position");
Serial.println(Gate_Pos);
Serial.println("Motor to Glass Bin");
delay(1000);
//Wait for some time after the measurements and move servo to
//the corresponding bin
//For initial position of servo_gate/PIPE in this case the read function will give us the last position of servo in degree
//Go to the second position of the Pipe_Servo @25 degree for Glass
//To control the speed of the servo we do this for loop.
//We have 2 cases; when pipe is somewhere in position greater then 90, in this particular case we want to go to 25 so we have to loop back.
//The other case is to loop forward i=i+1, (meaning to increase the angle in incremental manner).
//Actually in this case we can have only one case when angle is greater then 25, but however! :P
if (Pipe_Pos<25){
for(i=Pipe_Pos; i<=25; i=i+1){
Pipe_Servo.write(i);
delay(15);
}
}
else {
for(i=Pipe_Pos; i>=25; i=i-1){
Pipe_Servo.write(i);
delay(15);
}
}
delay(1000); //Delay (wait) for servo pipe to go to the bin.
//Next rotate the gate servo.//This remains the same for all other cases
//And control the speed of Gate Servo.
for(n=0; n<=45; n=n+1){
Gate_Servo.write(n);
delay(20);
}
delay(1000); //Delay (wait) and then bring back the Gate_Servo to its
//initial position.
//Bring Back Gate_Servo to initial position
//So from actual position n=45; we go backwards up to n=0.
for(n=45; n>=0; n=n-1){
Gate_Servo.write(n);
delay(25);
}
Serial.println("Motor_PIPE Position");
Serial.println(Pipe_Pos);
Serial.println("Motor_GATE Position");
Serial.println(Gate_Pos);
}
}
