final version (i hope)

.vscode/c_cpp_properties.json

@@ -0,0 +1,17 @@
+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "includePath": [
+                "${workspaceFolder}/**",
+                "/home/benny/.platformio/packages/framework-arduino-avr/cores/arduino",
+                "/home/benny/.platformio/packages/toolchain-atmelavr/avr/include"
+            ],
+            "defines": [],
+            "cStandard": "c17",
+            "cppStandard": "c++17",
+            "intelliSenseMode": "linux-clang-x64"
+        }
+    ],
+    "version": 4
+}

Arduino-Satellite-Dish/platformio.ini

@@ -14,3 +14,4 @@ board = uno
 framework = arduino
 lib_deps = 
 	arduino-libraries/Stepper@^1.1.3
+	waspinator/AccelStepper@^1.64

Arduino-Satellite-Dish/src/main.cpp

@@ -1,123 +1,133 @@
-// Includes the Arduino Stepper Library
-#include <Stepper.h>
-#include <Arduino.h>
+#include <AccelStepper.h>
 
-// Defines the number of steps per rotation
-const int stepsPerRevolution = 4096;
+#define LDR_PIN_TL A0 // Top-Left
+#define LDR_PIN_BL A1 // Bottom-Left
+#define LDR_PIN_TR A2 // Top-Right
+#define LDR_PIN_BR A3 // Bottom-Right 
 
-// TODO: fix rounding errors
-// int stepsPerDegree = stepsPerRevolution / 360;
-// const float stepsPerDegree = stepsPerRevolution / 360.0;
-const float stepsPerDegree = 11;
+// Initialize steppers
+AccelStepper stepperX(AccelStepper::HALF4WIRE, 8, 10, 9, 11);
+AccelStepper stepperY(AccelStepper::HALF4WIRE, 4, 6, 5, 7);
 
-// Creates an instance of stepper class
-// Pins entered in sequence IN1-IN3-IN2-IN4 for proper step sequence
-Stepper stepperX = Stepper(stepsPerRevolution, 8, 10, 9, 11);
-Stepper stepperY = Stepper(stepsPerRevolution, 4, 5, 6, 7);
+// --- Configuration Constants ---
+const int TOLERANCE = 30; // Combined tolerance for error signals. 
+
+// Proportional Gain (Kp): Increased for faster response, decrease if it overshoots
+const float KP_X = 0.35; 
+const float KP_Y = 0.3; 
+
+// LDR Reading
+const int LDR_SAMPLES = 5;	
+const int LDR_DELAY_MS = 1; 
+
+// Stepper Speed and Acceleration: INCREASED FOR FASTER MOVEMENT
+const float MAX_SPEED_X = 4000.0;	  
+const float ACCELERATION_X = 50000.0; 
+const float MAX_SPEED_Y = 4000.0;	  
+const float ACCELERATION_Y = 50000.0; 
+
+// --- Global Variables ---
+long offsetX_cal = 0; // Calibration offset for X-axis calculation
+long offsetY_cal = 0; // Calibration offset for Y-axis calculation
+
+// Helper function to read LDR value with averaging
+int readLDR(int pin)
+{
+	long sum = 0;
+	for (int i = 0; i < LDR_SAMPLES; i++)
+	{
+		sum += analogRead(pin);
+		if (LDR_DELAY_MS > 0)
+		{
+			delay(LDR_DELAY_MS);
+		}
+	}
+	return sum / LDR_SAMPLES;
+}
 
 void setup()
 {
-	// Nothing to do (Stepper Library sets pins as outputs)
-	Serial.begin(9600); // Open serial port at 9600 baud rate
-	stepperX.setSpeed(10);
-	stepperY.setSpeed(10);
-}
+	Serial.begin(9600);
+	Serial.println("Solar Tracker Initializing (45-deg sensors)...");
 
-void turnDegrees(Stepper stepper, int deg)
-{
-	stepperX.setSpeed(10);
-	stepperY.setSpeed(10);
-	stepper.step(deg * stepsPerDegree);
-}
+	stepperX.setMaxSpeed(MAX_SPEED_X);
+	stepperX.setAcceleration(ACCELERATION_X);
+	stepperY.setMaxSpeed(MAX_SPEED_Y);
+	stepperY.setAcceleration(ACCELERATION_Y);
 
-void processCommand(String command)
-{
-	stepperX.setSpeed(10);
-	stepperX.step(command.toInt() * stepsPerDegree);
-	Serial.println(command);
-}
+	Serial.println("Calibrating LDRs... Point sensor at reference light.");
+	delay(2000);
 
-void search()
-{
-	turnDegrees(stepperX, 180);
-	delay(10);
-	turnDegrees(stepperY, 45);
-	delay(10);
-	turnDegrees(stepperX, -180);
-	delay(10);
-	turnDegrees(stepperY, 45);
-	delay(10);
+	int valTL_cal = readLDR(LDR_PIN_TL);
+	int valTR_cal = readLDR(LDR_PIN_TR);
+	int valBL_cal = readLDR(LDR_PIN_BL);
+	int valBR_cal = readLDR(LDR_PIN_BR);
 
-	// back to zero:
-	turnDegrees(stepperY, -90);
-}
+	// Calculate combined values for calibration
+	long sumLeft_cal = valTL_cal + valBL_cal;
+	long sumRight_cal = valTR_cal + valBR_cal;
+	offsetX_cal = sumLeft_cal - sumRight_cal;
 
-void search2()
-{
-	turnDegrees(stepperX, 30);
-	delay(100);
-	turnDegrees(stepperY, 15);
-	delay(100);
-	turnDegrees(stepperX, 30);
-	delay(100);
-	turnDegrees(stepperY, 15);
-	delay(100);
-	turnDegrees(stepperX, 30);
-	delay(100);
-	turnDegrees(stepperY, 15);
-	delay(100);
-	turnDegrees(stepperX, 30);
-	delay(100);
-	turnDegrees(stepperY, 15);
-	delay(100);
-	turnDegrees(stepperX, 30);
-	delay(100);
-	turnDegrees(stepperY, 15);
-	delay(100);
-	turnDegrees(stepperX, 30);
-	delay(100);
-	turnDegrees(stepperY, 15);
-	delay(100);
+	long sumTop_cal = valTL_cal + valTR_cal;
+	long sumBottom_cal = valBL_cal + valBR_cal;
+	offsetY_cal = sumTop_cal - sumBottom_cal;
 
-	turnDegrees(stepperX, -360);
-	delay(100);
-
-	// back to zero:
-	turnDegrees(stepperY, -90);
-}
-
-void track()
-{
-	// compare sensors
-	// move towards strongest light signal
+	Serial.print("Calibration offsetX_cal: ");
+	Serial.println(offsetX_cal);
+	Serial.print("Calibration offsetY_cal: ");
+	Serial.println(offsetY_cal);
+	Serial.println("Setup Complete. Starting tracking loop.");
 }
 
 void loop()
 {
+	// --- Read LDR Values ---
+	int valTL = readLDR(LDR_PIN_TL); // Top-Left
+	int valTR = readLDR(LDR_PIN_TR); // Top-Right
+	int valBL = readLDR(LDR_PIN_BL); // Bottom-Left
+	int valBR = readLDR(LDR_PIN_BR); // Bottom-Right
 
-	// if (Serial.available() > 0) { // Check if data is available
-	//     String command = Serial.readStringUntil('\n'); // Read input until newline
-	//     command.trim(); // Remove any extra whitespace or newline characters
-	//     processCommand(command); // Process the received command
+	// --- Calculate Combined Light for Sides ---
+	long sumLightLeft = valTL + valBL;
+	long sumLightRight = valTR + valBR;
+	long sumLightTop = valTL + valTR;
+	long sumLightBottom = valBL + valBR;
 
-	// 	// Serial.println(command);
-	// }
+	// --- Calculate Differences (Error Signals) ---
+	// diffX_raw: Positive if more light on Left diagonal sum, Negative if more on Right
+	long diffX_raw = sumLightLeft - sumLightRight;
+	long errorX = diffX_raw - offsetX_cal; // Apply calibration
 
-	turnDegrees(stepperY, 180);
+	// diffY_raw: Positive if more light on Top diagonal sum, Negative if more on Bottom
+	long diffY_raw = sumLightTop - sumLightBottom;
+	long errorY = diffY_raw - offsetY_cal; // Apply calibration
 
-
-	// search();
-	// turnDegrees(stepperX, 180);
-
-	delay(100);
-
-	// // Rotate CCW quickly at 10 RPM
-	// stepperX.setSpeed(10);
-	// stepperX.step(-stepsPerRevolution);
-	// delay(1000);
-
-	// 	// Rotate CCW quickly at 10 RPM
-	// stepperY.setSpeed(10);
-	// stepperY.step(stepsPerRevolution);
-	// delay(1000);
+	if (errorX > errorY + 2 * TOLERANCE)
+	{
+		long stepAdjustmentX = -(long)(errorX * KP_X);
+		long newTargetX = stepperX.currentPosition() + stepAdjustmentX;
+		stepperX.moveTo(newTargetX);
+	}
+
+	// --- X-Axis (Horizontal) Control ---
+	if (abs(errorX) > TOLERANCE)
+	{
+		// Positive errorX means more light on the left side (TL+BL).
+		long stepAdjustmentX = -(long)(errorX * KP_X);
+		long newTargetX = stepperX.currentPosition() + stepAdjustmentX;
+		stepperX.moveTo(newTargetX);
+	}
+
+	// --- Y-Axis (Vertical) Control ---
+	if (abs(errorY) > TOLERANCE)
+	{
+		// Positive errorY means more light on the top side (TL+TR).
+		long stepAdjustmentY = (long)(errorY * KP_Y);
+		long newTargetY = stepperY.currentPosition() + stepAdjustmentY;
+		stepperY.moveTo(newTargetY);
+	}
+
+	// --- Run Steppers ---
+	stepperX.run();
+	stepperY.run();
 }