This is an autonomous marble sorter that aims to separate marbles of different materials. I wrote code in RobotC to control many servo motors as well as an infrared sensor and an encoder. I used VEX EDR parts and marbles made of plastic, wood, metal, and glass to construct the device. My favorite part of the machine is my creative solution to the too-much-friction problem: the gear engagement-disengagement system. This was the hardest part to develop, but it works beautifully!