Sorting Machine - Skittles and M&M's

This machine sorts candy by color. It separates different colored Skittles and M&Ms pieces and puts them into individual cups.
Project details: beta.ivc.no/wik...
The machine is fully autonomous and will sort an entire 1.5kg/56oz bag in approx. 5 minutes. It is made of an AVR microcontroller (Arduino Uno), color sensor, distance sensor, servo actuators, plastic frame tubes and a few custom 3D printed parts.
The system processing is based around pseudo-realtime programming which helps keep all the parts of the system up to date and keep the system running smoothly. Each process is designed around the notion of event driven finite-state machine (FSM) execution.
Controller: ATmega328 (Arduino Uno platform)
Color sensor: ADJD-S311-CR999 CMOS color sensor
Distance sensor: QRE1113 IR sensor
Servos: GWS S35-STD, GWS S125-1T-2BB
Music: Bartlebeats - Tall Bird