Final Project Journal

Description of the Arduino code in the real code:

1- Define analog inputs, floats, integers, and libraries:

#define ANALOG_IN_PIN A0

//A0 voltage sensor

//A1 current sensor

// Floats for ADC voltage & Input voltage

float adc_voltage = 0.0;

float in_voltage = 0.0;

// Floats for resistor values in divider (in ohms)

float R1 = 30000.0;

float R2 = 7500.0;

// Float for Reference Voltage

float ref_voltage = 5.0;

// Integer for ADC value

int adc_value = 0;

#include <Wire.h>

#include <LiquidCrystal_I2C.h>

LiquidCrystal_I2C lcd(0x27,16,2); // set the LCD address to 0x27 for a 16 chars and 2 line display

#include <Servo.h> // Servo library

//Servos

Servo trackerLR;  // Create servo object for left/right movement servo

Servo trackerTB;  // Create servo object for top/bottom movement servo

//Photoresistor Pins

int rightLDRpin = A2;  //LDR right

//Analog pins for photoresistors

int leftLDRpin = A3; //LDR left

//Photoresistors

int rightLDR = 0;  //Variables for the sensor values

int leftLDR = 0;

 //Not a real sensor. This will be the average of right and left photoresistors.

//Differences between right/left and top/bottom photoresistors

int horizontalError = 0;

int verticalError = 0;

int trackerLRPos = 90;    //Create a variable to store the servo position

void setup(){

2- Setup Serial Monitor:

Serial.begin(9600);

3-Initialize the LCD:

lcd.init(); // initialize the lcd

lcd.init();

lcd.backlight();

4- Attach the servo pin:

//Servo pins

trackerLR.attach(2);  

}

void loop(){

5- Read the current sensor and the voltage sensor:

// Read the Analog Input

adc_value = analogRead(ANALOG_IN_PIN);

// Determine voltage at ADC input

adc_voltage = (adc_value * ref_voltage) / 1024.0;

// Calculate voltage at divider input

in_voltage = adc_voltage*(R1+R2)/R2;

// Print results to Serial Monitor to 2 decimal places

//Serial.print("Input Voltage = ");

//Serial.println(in_voltage, 2);

// Short delaydelay(500);

unsigned int x=0;

float AcsValue=0.0,Samples=0.0,AvgAcs=0.0,AcsValueF=0.0,Power=0.0 ;

  for (int x = 0; x < 150; x++){ //Get 150 samples

  AcsValue = analogRead(A1);     //Read current sensor values  

  Samples = Samples + AcsValue;  //Add samples together

  delay (3); // let ADC settle before next sample 3ms

}

AvgAcs=Samples/150.0;//Taking Average of Samples

//((AvgAcs * (5.0 / 1024.0)) is converitng the read voltage in 0-5 volts

//2.5 is offset(I assumed that arduino is working on 5v so the viout at no current comes

//out to be 2.5 which is out offset. If your arduino is working on different voltage than

//you must change the offset according to the input voltage)

//0.185v(185mV) is rise in output voltage when 1A current flows at input

AcsValueF = (2.5 - (AvgAcs * (5.0 / 1024.0)) )/0.185;

6- Define power equation (Power= voltage * current):

Power = in_voltage * AcsValueF;

7- Display power in LCD:

Serial.print(Power);//Print the read current on Serial monitor

delay(50);

lcd.setCursor(2,0);

lcd.print("Power =");

lcd.setCursor(10,0);

lcd.print(Power);

lcd.setCursor(14,0);

lcd.print("W");

8- Read values of right and left sensors of LDRs:

  //Values of the right and left sensors

  rightLDR = analogRead(rightLDRpin);    

  leftLDR = analogRead(leftLDRpin);

 9- If conditions for working of servo motor after sensing of right and left LDRs sensors:

  horizontalError = rightLDR - leftLDR;  //Difference between the two sensors.

  if(horizontalError>20)  //If the error is greater than 20 then move the tracker to the right

  {

  trackerLRPos--;

  trackerLRPos = constrain (trackerLRPos, 0,179);

  trackerLR.write(trackerLRPos);  

  }

  else if(horizontalError<-20)  //If the error is less than -20 then move the tracker to the left

  {

  trackerLRPos++;

  trackerLRPos = constrain (trackerLRPos, 0,179 );

  trackerLR.write(trackerLRPos);  

  }

  delay(25);

}