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Arduino UNO-Based Color Detection and Servo Control System with TCS3200 and PWM Servo Driver

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Circuit Documentation

Summary

This circuit is designed to control multiple servos and LEDs using an Arduino UNO microcontroller. It also includes a TCS3200 color sensor for color detection. The servos are controlled via a 16-Channel PWM Servo Driver, and the LEDs are used to indicate the detected color. The circuit is powered by a combination of 7.4V and 5V batteries.

Component List

  1. Arduino UNO

    • Description: Microcontroller board based on the ATmega328P.
    • Pins: UNUSED, IOREF, Reset, 3.3V, 5V, GND, Vin, A0, A1, A2, A3, A4, A5, SCL, SDA, AREF, D13, D12, D11, D10, D9, D8, D7, D6, D5, D4, D3, D2, D1, D0

  2. 16-Channel PWM Servo Driver

    • Description: PWM driver for controlling up to 16 servos.
    • Pins: V+, VCC, SDA, SCL, OE, GND, Vin+, Vin-, PWM1, PWM2, PWM3, PWM4, PWM5, PWM6, PWM7, PWM8, PWM9, PWM10, PWM11, PWM12, PWM13, PWM14, PWM15, PWM16

  3. Micro servo 9G

    • Description: Small servo motor.
    • Pins: GND, +5V, PWM

  4. 7.4V Battery

    • Description: Power source.
    • Pins: +, -

  5. 5V Battery

    • Description: Power source.
    • Pins: positive, negative

  6. TCS3200

    • Description: Color sensor.
    • Pins: GND, OUT, S2, S3, VCC, LED, S0, S1

  7. Resistor (220 Ohms)

    • Description: Resistor with 220 Ohms resistance.
    • Pins: pin1, pin2

  8. LED: Two Pin (red)

    • Description: Red LED.
    • Pins: cathode, anode

  9. LED: Two Pin (green)

    • Description: Green LED.
    • Pins: cathode, anode

  10. LED: Two Pin (blue)

    • Description: Blue LED.
    • Pins: cathode, anode

Wiring Details

Arduino UNO

16-Channel PWM Servo Driver

Micro servo 9G

7.4V Battery

5V Battery

TCS3200

Resistor (220 Ohms)

LED: Two Pin (red)

LED: Two Pin (green)

LED: Two Pin (blue)

Code Documentation

#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>

// Create a PWM driver object
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();

// Servo pulse length values (adjust as needed for specific servo motor)
int minPulse = 150;  // Pulse length for 0 degrees
int maxPulse = 700;  // Pulse length for 180 degrees

// TCS3200 color sensor pins
int S0 = 4; // Frequency scaling pin S0
int S1 = 5; // Frequency scaling pin S1
int S2 = 6; // Color filter pin S2
int S3 = 7; // Color filter pin S3
int OUT = 8; // Output pin for frequency

// LED pins
int redLED = 9;
int greenLED = 10;
int blueLED = 11;

// Helper function to convert degrees to pulse length
int angleToPulse(int angle) {
  return map(angle, 0, 180, minPulse, maxPulse);
}

// Function to rotate the servo to a specific angle
void rotateServo(int channel, int angle) {
  int targetPulse = angleToPulse(angle);
  pwm.setPWM(channel, 0, targetPulse);
}

// Function to initialize TCS3200 sensor
void initColorSensor() {
  pinMode(S0, OUTPUT);
  pinMode(S1, OUTPUT);
  pinMode(S2, OUTPUT);
  pinMode(S3, OUTPUT);
  pinMode(OUT, INPUT);
  
  // Set frequency scaling
  digitalWrite(S0, HIGH);
  digitalWrite(S1, LOW);
}

// Function to read the frequency of each color
int readColor(int S2_state, int S3_state) {
  digitalWrite(S2, S2_state);
  digitalWrite(S3, S3_state);
  return pulseIn(OUT, digitalRead(OUT) == HIGH ? LOW : HIGH); // Frequency count for the current color
}

void setup() {
  Serial.begin(9600);
  Serial.println("PWM Servo Control with TCS3200 Color Detection");

  pwm.begin();               // Initialize the PWM board
  pwm.setPWMFreq(60);        // Set frequency to 60 Hz (standard for servos)
  delay(10);                 // Short delay for setup

  initColorSensor();         // Initialize TCS3200 sensor
  
  // Initialize LED pins
  pinMode(redLED, OUTPUT);
  pinMode(greenLED, OUTPUT);
  pinMode(blueLED, OUTPUT);
}

// Function to detect color based on TCS3200 readings
String detectColor() {
  int redFrequency = readColor(LOW, LOW);
  int greenFrequency = readColor(HIGH, HIGH);
  int blueFrequency = readColor(LOW, HIGH);

  Serial.print("Red Frequency: ");
  Serial.println(redFrequency);
  Serial.print("Green Frequency: ");
  Serial.println(greenFrequency);
  Serial.print("Blue Frequency: ");
  Serial.println(blueFrequency);

  // Detect color logic
  if (redFrequency > 200