Patent ID: 7781995

Claim:
An enclosed receptacle comprising: a receptacle portion defining a reservoir; a door mounted relative to the receptacle and configured to move between opened and closed positions; a power supply; a motor configured to move the door between the opened and closed positions; a controller configured to control operation of the door, the controller comprising: a door movement trigger module configured to allow a user to issue a command to the controller to open the door; a power supply voltage monitor module configured to detect a voltage of the power supply only once each time the command has been detected by the door movement trigger module; a door position monitor module having at least one sensor configured to monitor a position of the door; a door position sensor control module configured to supply power to the at least one sensor only when the door is being moved by the motor; a motor drive module configured to vary the power output of the motor to compensate for variations in a voltage of the power supply detected by the power supply voltage monitor and for variations in a force required to move the door at a substantially constant speed based on the position of the door detected by the door position monitor module; a braking module configured to slow the movement of the door as it approaches a stop position by reversing the power output of the motor for a predetermined braking time beginning at a predetermined position before the opened and closed positions of the door; and a fault detection module configured to stop operation of the motor and to provide an indication of a fault if the motor has been operating for more than a predetermined time period.