41

START

LDR(light dependent
resistor) sensor’s
work
 
 
  Wait an object
        
 
Is there any objects?
                                           NO

YES
 
Linear actuator’s work
(push out the color blocks) Colors’ Thresholds, which
determine the color of the block

Robot arm’s work

(pick & place blocks onto the Color=END
NO
conveyor)
YES

Result show the LCD and

White calibration (reference operate the viper sorter
values for Red, Green &
Blue light intensities )
Move the color block to
the correct channel

Infinite loop
Move the conveyor slowly
to push the block to the
vial
Move color block forward to
the color sensor

Infinite loop END

Red, Green & Blue
intensities’ measures