Purple Heart will send a truck out to pick things up, at least in my area. All you have to do is call and ask. They call every couple of months to say they're coming through on their regular route, and do we have anything? I usually do.
Last time they were here I gave them three shopping bags full of books. Next time, I expect to give them even more.
They will make a special trip to pick your stuff up if you have enough stuff, and this sounds like it's enough stuff for them.
You can also give them old clothes and household items, which you probably have if you are clearing things to move. They will give you a receipt for your tax deduction.