Smart Dustbin Using Arduino: HC-SR04, Servo Lid and Full Alert

1#include <Servo.h>
2
3const int HAND_TRIG = 2, HAND_ECHO = 3;   // el sensörü / hand sensor
4const int FILL_TRIG = 4, FILL_ECHO = 5;   // doluluk sensörü / fill sensor
5const int SERVO_PIN = 9;
6
7Servo lid;
8unsigned long lastPrint = 0;
9
10int pingCm(int trig, int echo) {
11  digitalWrite(trig, LOW);  delayMicroseconds(2);
12  digitalWrite(trig, HIGH); delayMicroseconds(10);   // 10 µs tetik darbesi / 10 µs trigger pulse
13  digitalWrite(trig, LOW);
14  unsigned long t = pulseIn(echo, HIGH, 30000UL);    // en fazla 30 ms bekle / wait at most 30 ms
15  return t == 0 ? 999 : (int)(t / 58);               // 999 = yankı yok / 999 = no echo
16}
17
18void setup() {
19  Serial.begin(9600);
20  pinMode(HAND_TRIG, OUTPUT); pinMode(HAND_ECHO, INPUT);
21  pinMode(FILL_TRIG, OUTPUT); pinMode(FILL_ECHO, INPUT);
22  lid.write(90);                                     // başlangıçta orta konum / start at the middle position
23  lid.attach(SERVO_PIN);
24  Serial.println(F("Açı yaz (0-180) ve Enter'a bas / Type an angle (0-180) and press Enter"));
25}
26
27void loop() {
28  if (Serial.available()) {
29    String s = Serial.readStringUntil('\n');
30    s.trim();
31    if (s.length() > 0) {                            // boş satırı yok say / ignore empty lines
32      int a = constrain(s.toInt(), 0, 180);
33      lid.write(a);
34      Serial.print(F("Servo: "));
35      Serial.println(a);
36    }
37  }
38
39  if (millis() - lastPrint >= 500) {                 // yarım saniyede bir yaz / print every half second
40    lastPrint = millis();
41    int hand = pingCm(HAND_TRIG, HAND_ECHO);
42    delay(60);                                       // iki sensör arasında bekle / wait between the two sensors
43    int fill = pingCm(FILL_TRIG, FILL_ECHO);
44    Serial.print(F("El / Hand: "));
45    Serial.print(hand);
46    Serial.print(F(" cm   Doluluk / Fill: "));
47    Serial.print(fill);
48    Serial.println(F(" cm"));
49  }
50}

1#include <Servo.h>
2
3// Pinler / Pins
4const int HAND_TRIG = 2, HAND_ECHO = 3;    // el sensörü, kutunun önünde / hand sensor, front of the bin
5const int FILL_TRIG = 4, FILL_ECHO = 5;    // doluluk sensörü, kapağın altında / fill sensor, under the lid
6const int SERVO_PIN = 9;
7const int LED_GREEN = 10, LED_YELLOW = 11, LED_RED = 12;
8const int BUZZER = 8;                      // aktif buzzer / active buzzer
9
10// Ayarlar: kalibrasyon kodunda bulduğun değerleri yaz / Settings: use the values from the calibration sketch
11const int HAND_CM = 20;                    // bundan yakın el kapağı açar / a hand closer than this opens the lid
12const int LID_CLOSED = 10;                 // kapak kenara oturuyor, bastırmıyor / lid rests on the rim, not pressing
13const int LID_OPEN = 110;                  // kapak tam açık / lid fully open
14const unsigned long OPEN_TIME = 4000;      // son el algılamadan sonra açık kalma (ms) / stay open after the last hand (ms)
15const unsigned long CLOSE_STEP_MS = 20;    // kapanırken derece başına ms / ms per degree while closing
16const int EMPTY_CM = 35;                   // boş kutuda sensörden dibe / sensor to bottom when empty
17const int FULL_CM = 8;                     // bu mesafede kutu %100 dolu / the bin is 100% full at this distance
18
19enum LidState { CLOSED, OPEN, CLOSING };
20LidState state = CLOSED;
21Servo lid;
22
23unsigned long lastHand = 0, lastHandPing = 0, closeStart = 0, closedAt = 0, lastFill = 0;
24int fillPercent = 0;
25byte handHits = 0;
26bool fullWarned = false;
27
28int pingCm(int trig, int echo) {
29  digitalWrite(trig, LOW);  delayMicroseconds(2);
30  digitalWrite(trig, HIGH); delayMicroseconds(10);  // 10 µs tetik darbesi / 10 µs trigger pulse
31  digitalWrite(trig, LOW);
32  unsigned long t = pulseIn(echo, HIGH, 30000UL);   // en fazla 30 ms bekle / wait at most 30 ms
33  return t == 0 ? 999 : (int)(t / 58);              // 999 = yankı yok / 999 = no echo
34}
35
36int medianCm(int trig, int echo) {                  // 5 ölçümün ortancası / median of 5 readings
37  int v[5];
38  delay(60);                                        // önce el sensörünün yankısı sönsün / first let the hand sensor's echo die out
39  for (int i = 0; i < 5; i++) {
40    v[i] = pingCm(trig, echo);
41    delay(60);                                      // yankılar sönsün / let the echoes die out
42  }
43  for (int i = 0; i < 4; i++)                       // küçükten büyüğe sırala / sort ascending
44    for (int j = i + 1; j < 5; j++)
45      if (v[j] < v[i]) { int tmp = v[i]; v[i] = v[j]; v[j] = tmp; }
46  return v[2];
47}
48
49int toPercent(int cm) {                             // mesafe → doluluk yüzdesi / distance → fill percent
50  long p = (long)(EMPTY_CM - cm) * 100 / (EMPTY_CM - FULL_CM);
51  if (p < 0) p = 0;
52  if (p > 100) p = 100;
53  return (int)p;
54}
55
56void showLevel() {
57  digitalWrite(LED_GREEN, fillPercent < 50);
58  digitalWrite(LED_YELLOW, fillPercent >= 50 && fillPercent < 80);
59  digitalWrite(LED_RED, fillPercent >= 80);
60}
61
62void beep(int n) {
63  for (int i = 0; i < n; i++) {
64    digitalWrite(BUZZER, HIGH); delay(120);
65    digitalWrite(BUZZER, LOW);  delay(120);
66  }
67}
68
69void openLid() {
70  if (!lid.attached()) lid.attach(SERVO_PIN);
71  lid.write(LID_OPEN);                              // hızlı aç / open quickly
72  state = OPEN;
73  if (fillPercent >= 90) beep(2);                   // açılırken dolu uyarısı / full warning on opening
74}
75
76void setup() {
77  Serial.begin(9600);
78  pinMode(HAND_TRIG, OUTPUT); pinMode(HAND_ECHO, INPUT);
79  pinMode(FILL_TRIG, OUTPUT); pinMode(FILL_ECHO, INPUT);
80  pinMode(LED_GREEN, OUTPUT); pinMode(LED_YELLOW, OUTPUT); pinMode(LED_RED, OUTPUT);
81  pinMode(BUZZER, OUTPUT);
82  lid.write(LID_CLOSED);                            // attach'tan önce: açılışta 90°'ye sıçramasın / before attach: no jump to 90° at power-up
83  lid.attach(SERVO_PIN);
84  delay(500);
85  lid.detach();                                     // kapalıyken servoyu bırak / release the servo while closed
86  closedAt = millis();
87  showLevel();
88}
89
90void loop() {
91  unsigned long now = millis();
92
93  // 1) El algılama, 60 ms'de bir / Hand detection, every 60 ms
94  if (now - lastHandPing >= 60) {
95    lastHandPing = now;
96    int d = pingCm(HAND_TRIG, HAND_ECHO);
97    if (d >= 2 && d <= HAND_CM) {
98      if (handHits < 2) handHits++;
99    } else {
100      handHits = 0;
101    }
102    if (handHits >= 2) {                            // art arda 2 ölçüm / 2 readings in a row
103      lastHand = now;                               // bekleme süresi yeniden başlar / the wait time restarts
104      if (state != OPEN) openLid();                 // kapanırken el gelirse yeniden aç / reopen if a hand appears while closing
105    }
106  }
107
108  // 2) Bekleme süresi doldu mu? / Has the wait time passed?
109  if (state == OPEN && now - lastHand >= OPEN_TIME) {
110    state = CLOSING;
111    closeStart = now;
112  }
113
114  // 3) Yavaş kapanma: açı geçen süreden hesaplanır / Slow close: angle is computed from elapsed time
115  if (state == CLOSING) {
116    int moved = (now - closeStart) / CLOSE_STEP_MS;
117    int range = abs(LID_OPEN - LID_CLOSED);
118    if (moved >= range) {
119      lid.write(LID_CLOSED);
120      state = CLOSED;
121      closedAt = now;
122    } else {
123      lid.write(LID_OPEN > LID_CLOSED ? LID_OPEN - moved : LID_OPEN + moved);
124    }
125  }
126
127  // 4) Kapandıktan 0,4 s sonra servoyu bırak / Release the servo 0.4 s after closing
128  if (state == CLOSED && lid.attached() && now - closedAt > 400) lid.detach();
129
130  // 5) Doluluk: yalnızca kapak kapalı ve durgunken / Fill level: only while the lid is closed and still
131  if (state == CLOSED && now - closedAt > 1000 && now - lastFill >= 3000) {
132    lastFill = now;
133    int cm = medianCm(FILL_TRIG, FILL_ECHO);
134    if (cm < 999) fillPercent = toPercent(cm);     // yankı yoksa eski değeri koru / keep the old value if there is no echo
135    showLevel();
136    Serial.print(F("Doluluk / Fill: "));
137    Serial.print(cm);
138    Serial.print(F(" cm = %"));
139    Serial.println(fillPercent);
140    if (fillPercent >= 90 && !fullWarned) {         // doldu: bir kez öt / just filled: beep once
141      fullWarned = true;
142      beep(3);
143    }
144    if (fillPercent < 70) fullWarned = false;       // boşaltıldı / emptied
145  }
146}

1// ESP32 Arduino çekirdeği 3.x / ESP32 Arduino core 3.x
2#include <WiFi.h>
3#include <WiFiClientSecure.h>
4#include <HTTPClient.h>
5
6const char* WIFI_SSID = "WIFI_ADIN";              // kendi ağın / your network
7const char* WIFI_PASS = "WIFI_SIFREN";
8const char* BOT_TOKEN = "123456789:ABCdefGhIJKlmNoPQRstuVWxyz";  // BotFather'dan / from BotFather
9const char* CHAT_ID   = "123456789";              // senin sohbet kimliğin / your chat ID
10
11// Pinler: ECHO'lar 1 kΩ / 2 kΩ bölücüyle / Pins: ECHOs via a 1 kΩ / 2 kΩ divider
12const int HAND_TRIG = 18, HAND_ECHO = 19;
13const int FILL_TRIG = 25, FILL_ECHO = 26;
14const int SERVO_PIN = 13;
15const int LED_GREEN = 27, LED_YELLOW = 32, LED_RED = 33;
16const int BUZZER = 23;
17
18const int HAND_CM = 20;
19const int LID_CLOSED = 10, LID_OPEN = 110;
20const unsigned long OPEN_TIME = 4000, CLOSE_STEP_MS = 20;
21const int EMPTY_CM = 35, FULL_CM = 8;
22const int NOTIFY_PCT = 85;                        // bu yüzdede bildir / notify at this percent
23const int RESET_PCT = 30;                         // bunun altına inince "boşaltıldı" / below this: "emptied"
24
25enum LidState { CLOSED, OPEN, CLOSING };
26LidState state = CLOSED;
27unsigned long lastHand = 0, lastHandPing = 0, closeStart = 0, closedAt = 0, lastFill = 0, lastTry = 0;
28int fillPercent = 0;
29byte handHits = 0;
30bool notified = false, servoOn = false, fullWarned = false;
31
32void servoWrite(int angle) {                      // 0–180° → 544–2400 µs, 50 Hz
33  uint32_t us = map(angle, 0, 180, 544, 2400);
34  ledcWrite(SERVO_PIN, us * 16384 / 20000);       // 14 bit, 20 ms periyot / 14-bit, 20 ms period
35  servoOn = true;
36}
37
38void servoRelease() {                             // darbe yok: servo serbest kalır / no pulses: the servo relaxes
39  ledcWrite(SERVO_PIN, 0);
40  servoOn = false;
41}
42
43int pingCm(int trig, int echo) {
44  digitalWrite(trig, LOW);  delayMicroseconds(2);
45  digitalWrite(trig, HIGH); delayMicroseconds(10);
46  digitalWrite(trig, LOW);
47  unsigned long t = pulseIn(echo, HIGH, 30000UL);
48  return t == 0 ? 999 : (int)(t / 58);            // 999 = yankı yok / 999 = no echo
49}
50
51int medianCm(int trig, int echo) {                // 5 ölçümün ortancası / median of 5 readings
52  int v[5];
53  delay(60);                                        // önce el sensörünün yankısı sönsün / first let the hand sensor's echo die out
54  for (int i = 0; i < 5; i++) {
55    v[i] = pingCm(trig, echo);
56    delay(60);
57  }
58  for (int i = 0; i < 4; i++)
59    for (int j = i + 1; j < 5; j++)
60      if (v[j] < v[i]) { int tmp = v[i]; v[i] = v[j]; v[j] = tmp; }
61  return v[2];
62}
63
64int toPercent(int cm) {
65  long p = (long)(EMPTY_CM - cm) * 100 / (EMPTY_CM - FULL_CM);
66  return (int)constrain(p, 0L, 100L);
67}
68
69void showLevel() {
70  digitalWrite(LED_GREEN, fillPercent < 50);
71  digitalWrite(LED_YELLOW, fillPercent >= 50 && fillPercent < 80);
72  digitalWrite(LED_RED, fillPercent >= 80);
73}
74
75void beep(int n) {
76  for (int i = 0; i < n; i++) {
77    digitalWrite(BUZZER, HIGH); delay(120);
78    digitalWrite(BUZZER, LOW);  delay(120);
79  }
80}
81
82String urlEncode(const String& s) {               // Türkçe harfler ve boşluk için / for Turkish letters and spaces
83  const char* hex = "0123456789ABCDEF";
84  String out;
85  for (size_t i = 0; i < s.length(); i++) {
86    uint8_t c = s[i];
87    if (isalnum(c) || c == '-' || c == '_' || c == '.' || c == '~') {
88      out += (char)c;
89    } else {
90      out += '%';
91      out += hex[c >> 4];
92      out += hex[c & 15];
93    }
94  }
95  return out;
96}
97
98bool sendTelegram(const String& text) {
99  if (WiFi.status() != WL_CONNECTED) return false;
100  WiFiClientSecure client;
101  client.setInsecure();                           // sertifika denetimi yok, hobi projesi için yeterli / no certificate check, fine for a hobby project
102  HTTPClient http;
103  String url = String("https://api.telegram.org/bot") + BOT_TOKEN +
104               "/sendMessage?chat_id=" + CHAT_ID + "&text=" + urlEncode(text);
105  if (!http.begin(client, url)) return false;
106  int code = http.GET();                          // 200 = gönderildi / 200 = sent
107  Serial.printf("Telegram HTTP %d\n", code);
108  http.end();
109  return code == 200;
110}
111
112void openLid() {
113  servoWrite(LID_OPEN);
114  state = OPEN;
115  if (fillPercent >= 90) beep(2);
116}
117
118void setup() {
119  Serial.begin(115200);
120  pinMode(HAND_TRIG, OUTPUT); pinMode(HAND_ECHO, INPUT);
121  pinMode(FILL_TRIG, OUTPUT); pinMode(FILL_ECHO, INPUT);
122  pinMode(LED_GREEN, OUTPUT); pinMode(LED_YELLOW, OUTPUT); pinMode(LED_RED, OUTPUT);
123  pinMode(BUZZER, OUTPUT);
124  ledcAttach(SERVO_PIN, 50, 14);                  // 50 Hz, 14 bit servo sinyali / 50 Hz, 14-bit servo signal
125  servoWrite(LID_CLOSED);
126  delay(500);
127  servoRelease();
128  WiFi.mode(WIFI_STA);
129  WiFi.begin(WIFI_SSID, WIFI_PASS);               // arka planda bağlanır; kutu Wi-Fi olmadan da çalışır / connects in the background; the bin works without Wi-Fi too
130  closedAt = millis();
131  showLevel();
132}
133
134void loop() {
135  unsigned long now = millis();
136
137  if (now - lastHandPing >= 60) {                 // el sensörü / hand sensor
138    lastHandPing = now;
139    int d = pingCm(HAND_TRIG, HAND_ECHO);
140    if (d >= 2 && d <= HAND_CM) {
141      if (handHits < 2) handHits++;
142    } else {
143      handHits = 0;
144    }
145    if (handHits >= 2) {
146      lastHand = now;
147      if (state != OPEN) openLid();
148    }
149  }
150
151  if (state == OPEN && now - lastHand >= OPEN_TIME) {
152    state = CLOSING;
153    closeStart = now;
154  }
155
156  if (state == CLOSING) {                         // yavaş kapanma / slow close
157    int moved = (now - closeStart) / CLOSE_STEP_MS;
158    int range = abs(LID_OPEN - LID_CLOSED);
159    if (moved >= range) {
160      servoWrite(LID_CLOSED);
161      state = CLOSED;
162      closedAt = now;
163    } else {
164      servoWrite(LID_OPEN > LID_CLOSED ? LID_OPEN - moved : LID_OPEN + moved);
165    }
166  }
167
168  if (state == CLOSED && servoOn && now - closedAt > 400) servoRelease();
169
170  if (state == CLOSED && now - closedAt > 1000 && now - lastFill >= 3000) {
171    lastFill = now;
172    int cm = medianCm(FILL_TRIG, FILL_ECHO);
173    if (cm < 999) fillPercent = toPercent(cm);
174    showLevel();
175    Serial.printf("Doluluk / Fill: %d cm = %%%d\n", cm, fillPercent);
176
177    if (fillPercent >= 90 && !fullWarned) { fullWarned = true; beep(3); }
178    if (fillPercent < 70) fullWarned = false;
179
180    // Bildirim: kapak kapalıyken, en fazla dakikada bir dene / Notify: only with the lid closed, retry at most once a minute
181    if (!notified && fillPercent >= NOTIFY_PCT && (lastTry == 0 || now - lastTry > 60000UL)) {
182      lastTry = now;
183      notified = sendTelegram("Çöp kutusu %" + String(fillPercent) + " dolu, boşaltma zamanı. / The bin is " +
184                              String(fillPercent) + "% full.");
185    }
186    if (notified && fillPercent < RESET_PCT) {   // boşaltıldı: yeniden kur / emptied: re-arm
187      notified = false;
188      lastTry = 0;
189      sendTelegram("Çöp kutusu boşaltıldı. / The bin has been emptied.");
190    }
191  }
192}

1from machine import Pin, PWM, time_pulse_us
2import time
3
4# Pinler: ECHO'lar 1 kΩ / 2 kΩ bölücüyle / Pins: ECHOs via a 1 kΩ / 2 kΩ divider
5hand_trig, hand_echo = Pin(2, Pin.OUT), Pin(3, Pin.IN)
6fill_trig, fill_echo = Pin(4, Pin.OUT), Pin(5, Pin.IN)
7green, yellow, red = Pin(10, Pin.OUT), Pin(11, Pin.OUT), Pin(12, Pin.OUT)
8buzzer = Pin(13, Pin.OUT)
9servo = PWM(Pin(15))
10servo.freq(50)                                  # servo için 50 Hz / 50 Hz for the servo
11
12HAND_CM = 20
13LID_CLOSED, LID_OPEN = 10, 110
14OPEN_MS, CLOSE_STEP_MS = 4000, 20
15EMPTY_CM, FULL_CM = 35, 8
16
17def ping_cm(trig, echo):
18    trig.low(); time.sleep_us(2)
19    trig.high(); time.sleep_us(10)              # 10 µs tetik / 10 µs trigger
20    trig.low()
21    t = time_pulse_us(echo, 1, 30000)           # yankı yoksa negatif / negative if there is no echo
22    return 999 if t < 0 else t // 58
23
24def median_cm(trig, echo):                      # 5 ölçümün ortancası / median of 5 readings
25    v = []
26    time.sleep_ms(60)                           # önce el sensörünün yankısı sönsün / first let the hand sensor's echo die out
27    for _ in range(5):
28        v.append(ping_cm(trig, echo))
29        time.sleep_ms(60)
30    v.sort()
31    return v[2]
32
33def servo_write(angle):                         # 0–180° → 544–2400 µs
34    servo.duty_ns((544 + angle * 1856 // 180) * 1000)
35
36def servo_release():                            # darbe yok: servo serbest / no pulses: servo relaxes
37    servo.duty_ns(0)
38
39def show_level(p):
40    green.value(p < 50)
41    yellow.value(50 <= p < 80)
42    red.value(p >= 80)
43
44def beep(n):
45    for _ in range(n):
46        buzzer.on(); time.sleep_ms(120)
47        buzzer.off(); time.sleep_ms(120)
48
49state = "closed"
50fill, hits, warned, released = 0, 0, False, False
51last_hand = last_ping = close_start = last_fill = time.ticks_ms()
52servo_write(LID_CLOSED)
53time.sleep_ms(500)
54servo_release()
55released = True
56closed_at = time.ticks_ms()
57show_level(fill)
58
59while True:
60    now = time.ticks_ms()
61
62    if time.ticks_diff(now, last_ping) >= 60:   # el sensörü, 60 ms'de bir / hand sensor, every 60 ms
63        last_ping = now
64        d = ping_cm(hand_trig, hand_echo)
65        hits = min(hits + 1, 2) if 2 <= d <= HAND_CM else 0
66        if hits >= 2:
67            last_hand = now
68            if state != "open":                 # kapanırken de yeniden açar / also reopens while closing
69                servo_write(LID_OPEN)
70                state, released = "open", False
71                if fill >= 90:
72                    beep(2)
73
74    if state == "open" and time.ticks_diff(now, last_hand) >= OPEN_MS:
75        state, close_start = "closing", now
76
77    if state == "closing":                      # yavaş kapanma / slow close
78        moved = time.ticks_diff(now, close_start) // CLOSE_STEP_MS
79        if moved >= abs(LID_OPEN - LID_CLOSED):
80            servo_write(LID_CLOSED)
81            state, closed_at = "closed", now
82        else:
83            servo_write(LID_OPEN - moved if LID_OPEN > LID_CLOSED else LID_OPEN + moved)
84
85    if state == "closed" and not released and time.ticks_diff(now, closed_at) > 400:
86        servo_release()
87        released = True
88
89    if state == "closed" and time.ticks_diff(now, closed_at) > 1000 and time.ticks_diff(now, last_fill) >= 3000:
90        last_fill = now
91        cm = median_cm(fill_trig, fill_echo)
92        if cm < 999:                            # yankı yoksa eski değer kalır / keep the old value if no echo
93            fill = max(0, min(100, (EMPTY_CM - cm) * 100 // (EMPTY_CM - FULL_CM)))
94        show_level(fill)
95        print("Doluluk / Fill:", cm, "cm =", fill, "%")
96        if fill >= 90 and not warned:
97            warned = True
98            beep(3)
99        if fill < 70:
100            warned = False
101
102    time.sleep_ms(5)