final version (i hope)
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Benny
parent
864de6cbff
commit
883e12542d
@ -14,3 +14,4 @@ board = uno
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framework = arduino
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lib_deps =
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arduino-libraries/Stepper@^1.1.3
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waspinator/AccelStepper@^1.64
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@ -1,187 +1,133 @@
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// Includes the Arduino Stepper Library
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#include <Stepper.h>
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#include <Arduino.h>
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#include <AccelStepper.h>
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// Define
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#define PHOTO_DIODE_1 A0 // Photodiode 1 connected to A0
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#define PHOTO_DIODE_2 A1 // Photodiode 2 connected to A1
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#define LDR_PIN_TL A0 // Top-Left
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#define LDR_PIN_BL A1 // Bottom-Left
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#define LDR_PIN_TR A2 // Top-Right
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#define LDR_PIN_BR A3 // Bottom-Right
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// Defines the number of steps per rotation
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const int stepsPerRevolution = 4096;
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// Initialize steppers
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AccelStepper stepperX(AccelStepper::HALF4WIRE, 8, 10, 9, 11);
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AccelStepper stepperY(AccelStepper::HALF4WIRE, 4, 6, 5, 7);
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// TODO: fix rounding errors
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// int stepsPerDegree = stepsPerRevolution / 360;
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// const float stepsPerDegree = stepsPerRevolution / 360.0;
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const float stepsPerDegree = 11;
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// --- Configuration Constants ---
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const int TOLERANCE = 30; // Combined tolerance for error signals.
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// Creates an instance of stepper class
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// Pins entered in sequence IN1-IN3-IN2-IN4 for proper step sequence
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Stepper stepperX = Stepper(stepsPerRevolution, 8, 10, 9, 11);
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Stepper stepperY = Stepper(stepsPerRevolution, 4, 5, 6, 7);
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// Proportional Gain (Kp): Increased for faster response, decrease if it overshoots
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const float KP_X = 0.35;
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const float KP_Y = 0.3;
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// Pins für Widerstände
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const int ldrPin1 = A0;
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const int ldrPin2 = A1;
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int offset;
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// LDR Reading
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const int LDR_SAMPLES = 5;
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const int LDR_DELAY_MS = 1;
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// Stepper Speed and Acceleration: INCREASED FOR FASTER MOVEMENT
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const float MAX_SPEED_X = 4000.0;
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const float ACCELERATION_X = 50000.0;
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const float MAX_SPEED_Y = 4000.0;
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const float ACCELERATION_Y = 50000.0;
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// --- Global Variables ---
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long offsetX_cal = 0; // Calibration offset for X-axis calculation
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long offsetY_cal = 0; // Calibration offset for Y-axis calculation
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// Helper function to read LDR value with averaging
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int readLDR(int pin)
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{
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long sum = 0;
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const int samples = 10;
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for (int i = 0; i < samples; i++)
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for (int i = 0; i < LDR_SAMPLES; i++)
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{
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sum += analogRead(pin);
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delay(5); // Small delay for stability
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if (LDR_DELAY_MS > 0)
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{
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delay(LDR_DELAY_MS);
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}
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}
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return sum / samples;
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}
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void turnDegrees(Stepper stepper, int deg)
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{
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stepperX.setSpeed(100);
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stepperY.setSpeed(100);
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stepper.step(deg * stepsPerDegree);
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return sum / LDR_SAMPLES;
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}
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void setup()
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{
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// Nothing to do (Stepper Library sets pins as outputs)
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Serial.begin(9600); // Open serial port at 9600 baud rate
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// pinMode(PHOTO_DIODE_1, INPUT);
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// pinMode(PHOTO_DIODE_2, INPUT);
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Serial.begin(9600);
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Serial.println("Solar Tracker Initializing (45-deg sensors)...");
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stepperX.setSpeed(10);
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stepperY.setSpeed(10);
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stepperX.setMaxSpeed(MAX_SPEED_X);
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stepperX.setAcceleration(ACCELERATION_X);
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stepperY.setMaxSpeed(MAX_SPEED_Y);
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stepperY.setAcceleration(ACCELERATION_Y);
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turnDegrees(stepperX, 40);
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Serial.println("Calibrating LDRs... Point sensor at reference light.");
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delay(2000);
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int ldrValue1 = readLDR(ldrPin1);
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int ldrValue2 = readLDR(ldrPin2);
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int valTL_cal = readLDR(LDR_PIN_TL);
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int valTR_cal = readLDR(LDR_PIN_TR);
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int valBL_cal = readLDR(LDR_PIN_BL);
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int valBR_cal = readLDR(LDR_PIN_BR);
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offset = ldrValue1 - ldrValue2;
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}
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// Calculate combined values for calibration
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long sumLeft_cal = valTL_cal + valBL_cal;
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long sumRight_cal = valTR_cal + valBR_cal;
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offsetX_cal = sumLeft_cal - sumRight_cal;
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void processCommand(String command)
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{
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stepperX.setSpeed(10);
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stepperX.step(command.toInt() * stepsPerDegree);
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Serial.println(command);
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}
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long sumTop_cal = valTL_cal + valTR_cal;
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long sumBottom_cal = valBL_cal + valBR_cal;
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offsetY_cal = sumTop_cal - sumBottom_cal;
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void search()
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{
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turnDegrees(stepperX, 180);
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delay(10);
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turnDegrees(stepperY, 45);
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delay(10);
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turnDegrees(stepperX, -180);
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delay(10);
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turnDegrees(stepperY, 45);
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delay(10);
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// back to zero:
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turnDegrees(stepperY, -90);
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}
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void search2()
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{
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turnDegrees(stepperX, 30);
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delay(100);
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turnDegrees(stepperY, 15);
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delay(100);
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turnDegrees(stepperX, 30);
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delay(100);
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turnDegrees(stepperY, 15);
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delay(100);
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turnDegrees(stepperX, 30);
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delay(100);
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turnDegrees(stepperY, 15);
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delay(100);
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turnDegrees(stepperX, 30);
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delay(100);
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turnDegrees(stepperY, 15);
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delay(100);
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turnDegrees(stepperX, 30);
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delay(100);
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turnDegrees(stepperY, 15);
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delay(100);
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turnDegrees(stepperX, 30);
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delay(100);
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turnDegrees(stepperY, 15);
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delay(100);
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turnDegrees(stepperX, -360);
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delay(100);
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// back to zero:
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turnDegrees(stepperY, -90);
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}
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void track()
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{
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// compare sensors
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// move towards strongest light signal
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Serial.print("Calibration offsetX_cal: ");
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Serial.println(offsetX_cal);
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Serial.print("Calibration offsetY_cal: ");
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Serial.println(offsetY_cal);
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Serial.println("Setup Complete. Starting tracking loop.");
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}
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void loop()
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{
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int ldrValue1 = readLDR(ldrPin1);
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int ldrValue2 = readLDR(ldrPin2);
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// --- Read LDR Values ---
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int valTL = readLDR(LDR_PIN_TL); // Top-Left
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int valTR = readLDR(LDR_PIN_TR); // Top-Right
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int valBL = readLDR(LDR_PIN_BL); // Bottom-Left
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int valBR = readLDR(LDR_PIN_BR); // Bottom-Right
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int diff = ldrValue1 - ldrValue2;
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int diffOhneOffset = diff - offset;
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// --- Calculate Combined Light for Sides ---
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long sumLightLeft = valTL + valBL;
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long sumLightRight = valTR + valBR;
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long sumLightTop = valTL + valTR;
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long sumLightBottom = valBL + valBR;
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if (diffOhneOffset > 0)
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// --- Calculate Differences (Error Signals) ---
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// diffX_raw: Positive if more light on Left diagonal sum, Negative if more on Right
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long diffX_raw = sumLightLeft - sumLightRight;
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long errorX = diffX_raw - offsetX_cal; // Apply calibration
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// diffY_raw: Positive if more light on Top diagonal sum, Negative if more on Bottom
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long diffY_raw = sumLightTop - sumLightBottom;
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long errorY = diffY_raw - offsetY_cal; // Apply calibration
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if (errorX > errorY + 2 * TOLERANCE)
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{
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Serial.println("got here 1");
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stepperX.setSpeed(10);
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turnDegrees(stepperX, 40);
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}
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else
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{
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Serial.println("got here 2");
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stepperX.setSpeed(10);
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turnDegrees(stepperX, -40);
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long stepAdjustmentX = -(long)(errorX * KP_X);
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long newTargetX = stepperX.currentPosition() + stepAdjustmentX;
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stepperX.moveTo(newTargetX);
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}
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Serial.print("LDR1: ");
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Serial.print(ldrValue1);
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Serial.print(" | LDR2: ");
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Serial.println(ldrValue2);
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Serial.print("Difference:");
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Serial.println(diffOhneOffset);
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// --- X-Axis (Horizontal) Control ---
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if (abs(errorX) > TOLERANCE)
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{
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// Positive errorX means more light on the left side (TL+BL).
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long stepAdjustmentX = -(long)(errorX * KP_X);
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long newTargetX = stepperX.currentPosition() + stepAdjustmentX;
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stepperX.moveTo(newTargetX);
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}
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delay(500);
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// if (Serial.available() > 0) { // Check if data is available
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// String command = Serial.readStringUntil('\n'); // Read input until newline
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// command.trim(); // Remove any extra whitespace or newline characters
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// processCommand(command); // Process the received command
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// --- Y-Axis (Vertical) Control ---
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if (abs(errorY) > TOLERANCE)
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{
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// Positive errorY means more light on the top side (TL+TR).
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long stepAdjustmentY = (long)(errorY * KP_Y);
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long newTargetY = stepperY.currentPosition() + stepAdjustmentY;
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stepperY.moveTo(newTargetY);
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}
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// // Serial.println(command);
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// }
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// turnDegrees(stepperY, 180);
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// search();
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// turnDegrees(stepperX, 180);
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// int light1 = analogRead(PHOTO_DIODE_1); // Read light intensity from PD1
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// int light2 = analogRead(PHOTO_DIODE_2); // Read light intensity from PD2
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// // Print in a format suitable for Arduino Serial Plotter
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// Serial.print(light1);
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// Serial.print(",");
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// Serial.println(light2);
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// delay(100); // Small delay for readability
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// // Rotate CCW quickly at 10 RPM
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// stepperX.setSpeed(10);
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// stepperX.step(-stepsPerRevolution);
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// delay(1000);
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// // Rotate CCW quickly at 10 RPM
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// stepperY.setSpeed(10);
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// stepperY.step(stepsPerRevolution);
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// delay(1000);
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// --- Run Steppers ---
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stepperX.run();
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stepperY.run();
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}
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