Build Instructions

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• 1

  Cut cardboard flaps

  Take one of your shirts and make folding lines where you would usually fold. Use those to find the dimensions of your cardboard flaps. 

• 2

  Wire servos and ultrasonic sensor to an arduino using a breadboard or servo shield.

• 3

  Initialize servos and code your own sequence to fold your clothes (whichever order works best for you). For the ultrasonic sensor code, using Serial.print() to find the value your ultrasonic sensor spikes at when pointed at fabric. Once you have that, set

  #include <Servo.h>
  Servo Lo;
  Servo Lt;
  Servo Ro;
  Servo Rt;
  Servo Bo;
  Servo Bt;
  Servo Mo;
  Servo Mt;
  Servo Eo;
  Servo Et;
  
  
  int delay_val = 500;
  int angle = 120;
  int go = 0; 
  char detect = "on"; 
  
  const int trigPin = 13;
  const int echoPin = A2;
  long duration;
  int distance;
  
  void setup() {
    Serial.begin(9600);
    pinMode(trigPin, OUTPUT);
    pinMode(echoPin, INPUT);
    Lo.attach(7);
    Lt.attach(10);
    Eo.attach(12);
    Et.attach(2);
    Mo.attach(4);
    Mt.attach(3);
    Bo.attach(9);
    Bt.attach(A5);
    Ro.attach(5);
    Rt.attach(6);
  
    Bo.write(180);
    Bt.write(180);
    Lo.write(0);
    Lt.write(0);
    Ro.write(0);
    Rt.write(0);
    Mo.write(0);
    Mt.write(0);
    Eo.write(0);
    Et.write(10);
  }
  
  void Routine(){
    if (go > 0) {
      delay(delay_val); 
      Bt.write(180 - angle);
      Bo.write(180 - angle);
      delay(delay_val);
      Bt.write(180);
      Bo.write(180);
      Rt.write(angle);
      Ro.write(angle);
      Lt.write(angle);
      Lo.write(angle);
      delay(delay_val);
      Rt.write(0);
      Ro.write(0);
      Lt.write(0);
      Lo.write(0);
      
      delay(delay_val);
      Mt.write(260);
      Mo.write(260);
      delay(870);
      Mt.write(0);
      Mo.write(0);
      
      delay(400);
      Mt.write(0);
      Mo.write(0);
      Et.write(270);
      Eo.write(270);
      delay(800);
      Et.write(10);
      Eo.write(0);
      delay(3000);
    } 
  }
  
  void loop() {
    Serial.println(distance);
    digitalWrite(trigPin, LOW);
    delayMicroseconds(2);
    digitalWrite(trigPin, HIGH);
    delayMicroseconds(10);
    digitalWrite(trigPin, LOW);
    duration = pulseIn(echoPin, HIGH);
    distance = duration * 0.034 / 2;
    
    if (distance > 300) {
      go = 1;
      Routine();
      go = 0;
    }
  }

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