The Motors

A project log for 3D Printed Skittles Sorting Machine

This is a custom designed 3D printed skittles sorting machine that sorts skittles by color into bins.

nathan-petersonNathan Peterson 09/07/2015 at 01:230 Comments

The DC motors came from a robotics kit that I bought at RadioShack:

Powered by the Adafruit Motor Shield v2:

Here are the incremental encoder rings that provide position feedback for the discs. They are alternating slots that are read by photo interrupters. After the initialization sequence, this is sufficient information for the microcontroller to tell what positions the top and bottom discs are in.