Color Sorter IoT Project

Project Overview

This project involves creating an IoT-based color sorter that can detect different colors and sort objects accordingly using a robotic arm. The system is equipped with a color sensor, servo motors for picking and dropping objects, and is integrated with ThingSpeak for data logging and Telegram for real-time notifications.

Components and Libraries

The project uses the following components:

• ESP8266 WiFi Module
• Color Sensor (TCS3200)
• Servo Motors
• ThingSpeak API for data logging
• Telegram API for notifications
• Web server for displaying current detected color

Required libraries:

• Servo.h
• ESP8266WiFi.h
• ThingSpeak.h
• ESP8266HTTPClient.h
• ESP8266WebServer.h

To install these libraries, use the Arduino Library Manager or the following commands:

#include <Servo.h>
#include <ESP8266WiFi.h>
#include <ThingSpeak.h>
#include <ESP8266HTTPClient.h>
#include <ESP8266WebServer.h>

Setup and Configuration

Pin Configuration

• s0, s1, s2, s3, out: Pins connected to the TCS3200 color sensor.
• D2: Pin for the pick servo motor.
• D3: Pin for the drop servo motor.

WiFi and ThingSpeak Configuration

const char *ssid = "rj_chets"; // Enter your WiFi Name
const char *pass = "rj_chets"; // Enter your WiFi Password
const char *myWriteAPIKey = "9B6ILVOYMUSVOADA";
unsigned long myChannelNumber = 691885;

Telegram Bot Configuration

const char *botToken = "YOUR_BOT_TOKEN"; // Replace with your Telegram bot token
const char *chatID = "YOUR_CHAT_ID"; // Replace with your Telegram chat ID

Code Overview

Setup Function

The setup function initializes the serial communication, configures the pins, connects to WiFi, sets up the servos, initializes ThingSpeak, and starts the web server.

void setup() {
  Serial.begin(9600);
  pinMode(s0, OUTPUT);
  pinMode(s1, OUTPUT);
  pinMode(s2, OUTPUT);
  pinMode(s3, OUTPUT);
  pinMode(out, INPUT);
  digitalWrite(s0, HIGH);
  digitalWrite(s1, HIGH);
  pickServo.attach(D2);
  dropServo.attach(D3);
  pickServo.write(CLOSE_ANGLE);
  dropServo.write(73);
  ThingSpeak.begin(http);

  Serial.println("Connecting to ");
  Serial.println(ssid);
  WiFi.begin(ssid, pass);
  while (WiFi.status() != WL_CONNECTED) {
    delay(550);
    Serial.print(".");
  }
  Serial.println("");
  Serial.println("WiFi connected");

  server.on("/", HTTP_GET, handleRoot);
  server.on("/colors", HTTP_GET, handleColors);

  server.begin();
}

Loop Function

The loop function handles the color detection, sends notifications via Telegram, logs data to ThingSpeak, and updates the web server.

void loop() {
  server.handleClient(); // Handle web server requests

  digitalWrite(s2, LOW);
  digitalWrite(s3, LOW);
  red = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH);
  digitalWrite(s3, HIGH);
  blue = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH);
  digitalWrite(s2, HIGH);
  green = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH);

  Serial.print("R Intensity:");
  Serial.print(red, DEC);
  Serial.print(" G Intensity: ");
  Serial.print(green, DEC);
  Serial.print(" B Intensity : ");
  Serial.print(blue, DEC);

  unsigned long currentMillis = millis();
  if (currentMillis - lastMessageTime >= interval) {
    lastMessageTime = currentMillis; // Update the last message time

    if (red < 39 && red > 29 && green < 93 && green > 83 && blue < 78 && blue > 69) {
      sendTelegramMessage("Red color detected.");
      dropServo.write(73);
      delay(700);
      redcolor++;
      Serial.print("Red");
      open1();
      delay(200);
      close1();
      ThingSpeak.writeField(myChannelNumber, 1, redcolor, myWriteAPIKey);
    } else if (green < 75 && green > 65 && blue < 68 && blue > 60) {
      sendTelegramMessage("Orange color detected.");
      dropServo.write(107);
      delay(700);
      orangecolor++;
      Serial.print("Orange");
      open1();
      delay(200);
      close1();
      ThingSpeak.writeField(myChannelNumber, 2, orangecolor, myWriteAPIKey);
    } else if (red < 46 && red > 36 && green < 46 and green > 37) {
      sendTelegramMessage("Green color detected.");
    } else if (red < 34 && red > 25 and green < 37 and green > 28 and blue < 53 and blue > 43) {
      sendTelegramMessage("Yellow color detected.");
      dropServo.write(132);
      delay(700);
      greencolor++;
      Serial.print("Green");
      open1();
      delay(200);
      close1();
      ThingSpeak.writeField(myChannelNumber, 3, greencolor, myWriteAPIKey);
    } else {
      sendTelegramMessage("No color detected or color out of range.");
    }
  }

  Serial.println();
}

Helper Functions

• open1(): Opens the pick servo.
• close1(): Closes the pick servo.
• sendTelegramMessage(String message): Sends a message via Telegram.
• URLEncode(String msg): Encodes a URL string.
• handleRoot(): Handles the root web server request.
• handleColors(): Handles the colors web server request.

Web Server

The project includes a basic web server to display the currently detected color. The web server is configured in the setup function and the handlers are defined to return HTML content.