Perler beads sorting machine

Sorting machine for iron/perler beads. inspired and remixed from https://www.thingiverse.com/thing:4655616 and https://www.youtube.com/channel/UC_FL8uRlu1aZBWwSL4N1AEw.

This upload is still work in progress as some parts may not fit perfectly. However, it works:
https://www.youtube.com/watch?v=BCTsuJqhdE4
:D.

I used an Arduino Mega, a CNC Shield V3, two Nema 17 stepper motors, 2 optical endstops and a GY-31TCS230 TCS3200 color sensor and a lot of M3 screws. The arduino project is also included in the files.

The top part of the tower needs to be printed in black in order to increase contrast between the beads and the background. Otherwise color detection will be quite random.

Further instructions on howto setup will follow.

Update 3/2/22: Added schematics. Please note: while there are mechanical limit switches in the schematics, optical endstops are necessary!