In this project a decanting machine, which is usually used by Sommeliers to handle quite heavy and valuable bottles of wine, was automated by adding sensors to monitor the pouring process, a stepper motor to move the machine and a Raspberry Pi as the central controlling unit.
Basically the user has to fasten a bottle onto the machine and put a glass into the glass holder. Afterwards the machine turns into a ready-state and waits for the command to start process. During the pouring process the machine tilts the bottle down, until a sensor registers that the wine is flowing into the glass or the minimal position is reached. Then the machine stops and remains in position until a sensor signals the Raspberry Pi that the desired liquid level is almost reached. This is the cue for the machine to lift the bottle until either the wine stopped flowing, or the initial position is reached.