Sorting Code

Standby

Push Pistons Up

Detect White Tape

Rotate Ramp to Correct Column

Turn On Rotators

Increment Drawer Count

Stop Rotators

Lower Pistons

Move Ramp to Final Reservoirs

Turn on Rotators

Increment Reservoir Count

Done

If more drawers need to be filled

If all drawers in a row are filled

If all rows are filled

If not all rows are filled

If "start" is pressed

If drawers need to be filled

Move Cabinet to next row

If drawers don't need to be filled