#include <Servo.
h>
Servo horizontal; // horizontal servo
int servoh = 180;
int servohLimitHigh = 175;
int servohLimitLow = 5;
// 65 degrees MAX
Servo vertical; // vertical servo
int servov = 45;
int servovLimitHigh = 60;
int servovLimitLow = 1;
Servo myservo; // Cleaning Servo
// LDR pin connections
// name = analogpin;
int ldrlt = A1 ; //LDR top left - BOTTOM LEFT <--- BDG
int ldrrt = A2 ; //LDR top rigt - BOTTOM RIGHT
int ldrld = A0; //LDR down left - TOP LEFT
int ldrrd = A3; //ldr down rigt - TOP RIGHT
int pos = 0;
void setup(){
horizontal.attach(8);
vertical.attach(9);
horizontal.write(180);
vertical.write(45);
myservo.attach(10); //cleaning servo
delay(2500);
Serial.begin(9600);
}
void loop() {
int lt = analogRead(ldrlt); // top left
int rt = analogRead(ldrrt); // top right
int ld = analogRead(ldrld); // down left
int rd = analogRead(ldrrd); // down right
int rain = analogRead(A4); // Rain detection
//Serial.print(rt);
//Serial.print(" ");
//Serial.print(lt);
//Serial.print(" ");
//Serial.print(rd);
//Serial.print(" ");
//Serial.print(ld);
//Serial.println(" ");
//delay(2000);
int dtime = 10; int tol = 40; // dtime=diffirence time, tol=toleransi
int avt = (lt + rt) / 2; // average value top
int avd = (ld + rd) / 2; // average value down
int avl = (lt + ld) / 2; // average value left
int avr = (rt + rd) / 2; // average value right
int dvert = avt - avd; // check the diffirence of up and down
int dhoriz = avl - avr;// check the diffirence og left and rigt
if (-1*tol > dvert || dvert > tol)
{
Serial.println("loop 1");
delay(200);
if (avt > avd)
{
Serial.println("loop 2");
delay(200);
servov = ++servov;
Serial.println("angle increased");
delay(200);
if (servov > servovLimitHigh)
{
servov = servovLimitHigh;
Serial.println("angle Limit High");
}
}
else if (avt < avd)
{servov= --servov;
Serial.println("angle decreased");
if (servov < servovLimitLow)
{ servov = servovLimitLow;
Serial.println("angle Limit Low");
}
}
vertical.write(servov);
}
if (-1*tol > dhoriz || dhoriz > tol) // check if the diffirence is in the tolerance
else change horizontal angle
{
Serial.println("loop 2");
delay(200);
if (avl > avr)
{
Serial.println("loop 3");
delay(200);
servoh = --servoh;
if (servoh < servohLimitLow)
{
Serial.println("loop 4");
delay(200);
servoh = servohLimitLow;
}
}
else if (avl < avr)
{
Serial.println("loop 5");
delay(200);
servoh = ++servoh;
if (servoh > servohLimitHigh)
{
Serial.println("loop 6");
delay(200);
servoh = servohLimitHigh;
}
}
else if (avl = avr)
{
Serial.println("loop 7");
delay(200);
delay(5000);
}
horizontal.write(servoh);
}
delay(dtime);
if(rain < 400){
int pos;
for (pos = 0; pos <= 120; pos += 1) { // goes from 0 degrees to 180 degrees
// in steps of 1 degree
myservo.write(pos); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
for (pos = 120; pos >= 0; pos -= 1) { // goes from 180 degrees to 0 degrees
myservo.write(pos); // tell servo to go to position in
variable 'pos'
delay(15); // waits 15ms for the servo to reach the
position
}
}
