兩軸追日系統

1602 LCD I2C 函式庫

#include <Wire.h>

#include <LiquidCrystal_I2C.h>

#include <Servo.h>

LiquidCrystal_I2C lcd(0x3F,16,2); // 若LCD 無法啟用，請將0X3F 改為0X27

unsigned long x0,x1,x2,x3;

int a1,a2,b1,b2;

int limit=50;

int t=50;

int n=100;

Servo servox,servoy;

void dispLcd(){

lcd.setCursor(0,0);

lcd.print(x1);

lcd.print(" ");

lcd.setCursor(6,0);

lcd.print("(");

lcd.print(a2);

lcd.print(")");

lcd.print(" ");

lcd.setCursor(12,0);

lcd.print(x2);

lcd.print(" ");

lcd.setCursor(0,1);

lcd.print(x0);

lcd.print(" ");

lcd.setCursor(6,1);

lcd.print("(");

lcd.print(b2);

lcd.print(")");

lcd.setCursor(12,1);

lcd.print(x3);

lcd.print(" ");

}

void detect(){

for(int i=0 ; i<n ;i++){

x0 += analogRead(A0);

x1 += analogRead(A1);

x2 += analogRead(A2);

x3 += analogRead(A3);

}

x0=x0/n;

x1=x1/n;

x2=x2/n;

x3=x3/n;

dispLcd();

}

void work(){

//////////////////////////////////////////

detect();

while(x0+x1>x2+x3+limit){

if(b2>=90){

a2=a1+1;

if(a2>180){a2=180;}

}else{

a2=a1-1;

if(a2<0){

a2=0;

}}

if(a2==180)break;

if(a2==0)break;

servox.write(a2);

Serial.print("x=");

Serial.println(a2);

a1=a2;

delay(t);

detect();

}

/////////////////////////////////////////

detect();

while(x2+x3>x0+x1+limit){

if(b2>=90){

a2=a1-1;

if(a2<0){

a2=0;

}}else{

a2=a1+1;

if(a2>180){

a2=180;

}}

if(a2==180)break;

if(a2==0)break;

servox.write(a2);

Serial.print("x=");

Serial.println(a2);

a1=a2;

delay(t);

detect();

}

/////////////////////////////////////////////////

detect();

while(x1+x2>x0+x3+limit){

b2=b1+1;

if(b2>180){

b2=180;

}

if(b2==180)break;

if(b2==0)break;

servoy.write(b2);

Serial.print("y=");

Serial.println(b2);

b1=b2;

delay(t);

detect();

}

//////////////////////////////////////////////////

detect();

while(x0+x3>x1+x2+limit){

b2=b1-1;

if(b2<0){

b2=0;

}

if(b2==180)break;

if(b2==0)break;

servoy.write(b2);

Serial.print("y=");

Serial.println(b2);

b1=b2;

delay(t);

detect();

}

void setup() {

Serial.begin(9600);

lcd.init();

lcd.backlight();

lcd.clear();

servox.attach(8);

servoy.attach(11);

servox.write(90);

servoy.write(90);

a1=90;

b1=90;

a2=90;

b2=90;

}

void loop() {

work();

}

#include <Wire.h>

#include <LiquidCrystal_I2C.h>

#include <Servo.h>

LiquidCrystal_I2C lcd(0x3F,16,2); // 若LCD 無法啟用，請將0X3F 改為0X27

unsigned long x0,x1,x2,x3;

int a1,a2,b1,b2,a3,a4;

int limit=50;

int t=1;

int n=100;

int mode;

Servo servox,servoy;

void debug(){

Serial.print(x0+x1);

Serial.print(",");

Serial.print(x2+x3);

Serial.print(",");

Serial.println(a2);

}

void dispLcd(){

lcd.setCursor(0,0);

lcd.print(x1);

lcd.print(" ");

lcd.setCursor(6,0);

lcd.print("(");

lcd.print(a2);

lcd.print(")");

lcd.print(" ");

lcd.setCursor(12,0);

lcd.print(x2);

lcd.print(" ");

lcd.setCursor(0,1);

lcd.print(x0);

lcd.print(" ");

lcd.setCursor(6,1);

lcd.print("(");

lcd.print(b2);

lcd.print(")");

lcd.setCursor(12,1);

lcd.print(x3);

lcd.print(" ");

//debug();

}

void detect(){

for(int i=0 ; i<n ;i++){

x0 += analogRead(A0);

x1 += analogRead(A1);

x2 += analogRead(A2);

x3 += analogRead(A3);

}

x0=x0/n;

x1=x1/n;

x2=x2/n;

x3=x3/n;

dispLcd();

}

void work(){

//////////////////////////////////////////

detect();

while(x0+x1>x2+x3+limit&&mode==0){

if(b2>=90){

a2=a1+1;

if(a2>180){a2=180;}

}else{

a2=a1-1;

if(a2<0){

a2=0;

}}

if(a2==180)break;

if(a2==0)break;

servox.write(a2);

a1=a2;

delay(t);

detect();

}

a3=a2;

/////////////////////////////////////////

detect();

while(x2+x3>x0+x1+limit&&mode==0){

if(b2>=90){

a2=a1-1;

if(a2<0){

a2=0;

}}else{

a2=a1+1;

if(a2>180){

a2=180;

}}

if(a2==180)break;

if(a2==0)break;

servox.write(a2);

a1=a2;

delay(t);

detect();

}

a4=a2;

mode++;

servox.write((a3+a4)/2);

if(x2+x3>x0+x1+limit+100){mode=0;}

if(x0+x1>x2+x3+limit+100){mode=0;}

/////////////////////////////////////////////////

detect();

while(x1+x2>x0+x3+limit){

b2=b1+1;

if(b2>180){

b2=180;

}

if(b2==180)break;

if(b2==0)break;

servoy.write(b2);

b1=b2;

delay(t);

detect();

}

//////////////////////////////////////////////////

detect();

while(x0+x3>x1+x2+limit){

b2=b1-1;

if(b2<0){

b2=0;

}

if(b2==180)break;

if(b2==0)break;

servoy.write(b2);

b1=b2;

delay(t);

detect();

}

void setup() {

Serial.begin(9600);

lcd.init();

lcd.backlight();

lcd.clear();

servox.attach(8);

servoy.attach(11);

servox.write(90);

servoy.write(90);

a1=90;

b1=90;

a2=90;

b2=90;

}

void loop() {

work();

}

#include <Stepper.h>

#include <Servo.h>

#include <Wire.h> //載入I2C介面函式庫

#include <LiquidCrystal_I2C.h> //載入I2C液晶控制函式庫

LiquidCrystal_I2C lcd(0x27,16,2); // 若LCD 無法啟用，請將0X3F 改為0X27

const int stepsPerRevolution = 1024;

Servo servo;

Stepper myStepper(stepsPerRevolution, 4, 6, 7, 5);

pin腳接法

IN1=4

IN2=6

IN3=7

IN4=5

int x,x1,y,y1,degX,degY;

int UL,UR,DL,DR;

int w=5; //容忍值

int mode=1;

void setup() {

lcd.init(); //LCD初始化

lcd.backlight(); //LCD 開啟背光

lcd.clear(); // LCD清除畫面

pinMode(12,INPUT);

pinMode(13,OUTPUT);

servo.attach(8);

myStepper.setSpeed(5);

lcd.setCursor(0,0); //設定LCD游標至第0行，第0列的位置

lcd.print("Stepper_X");

lcd.setCursor(0,1); //設定LCD游標至第0行，第0列的位置

lcd.print("initial...");

do{

myStepper.step(4);

x=digitalRead(12);

}while(x==1);

lcd.setCursor(0,0); //設定LCD游標至第0行，第0列的位置

lcd.print("Servo_Y");

lcd.setCursor(0,1); //設定LCD游標至第0行，第0列的位置

lcd.print("initial...");

servo.write(90);

y=90;

lcd.setCursor(0,0); //設定LCD游標至第0行，第0列的位置

lcd.print("Stepper_X");

lcd.setCursor(0,1); //設定LCD游標至第0行，第0列的位置

lcd.print("setting...");

myStepper.step(-512);

lcd.clear();

}

void LCD_Display(){

lcd.setCursor(0,0); //設定LCD游標至第0行，第0列的位置

lcd.print(UL); //LCD在現在的游標顯示變數a的值

if(UL<100){

lcd.print(" ");

}

lcd.setCursor(13,0); //設定LCD游標至第8行，第0列的位置

lcd.print(UR); //LCD在現在的游標顯示變數c的值

if(UR<100){

lcd.print(" ");

}

lcd.setCursor(0,1); //設定LCD游標至第0行，第1列的位置

lcd.print(DL); //LCD在現在的游標顯示變數b的值

if(DL<100){

lcd.print(" ");

}

lcd.setCursor(13,1); //設定LCD游標至第8行，第1列的位置

lcd.print(DR); //LCD在現在的游標顯示變數d的值

if(DR<100){

lcd.print(" ");

}}

void loop() {

while(mode==1){

DL=analogRead(A1);

DR=analogRead(A3);

UL=analogRead(A0);

UR=analogRead(A2);

if(UL>UR+w && UL>DR+w && UL>DL+w){ //左上最亮

myStepper.step(4);

}

if(DL>UR+w && DL>DR+w && DL>UL+w){ //左下最亮

myStepper.step(4);

}

if(UR>UL+w && UR>DR+w && UR>DL+w){ //右上最亮

myStepper.step(-4);

}

if(DR>UL+w && DR>DL+w && DR>UR+w){ //右下最亮

myStepper.step(-4);

}

LCD_Display();

if(abs(UL-UR)<w && UL>DL && UR>DR){

mode=2;

}

if(abs(DL-DR)<w && DL>UL && DR>UR){

mode=2;

}

while(mode==2){

digitalWrite(13,1);

DL=analogRead(A1);

DR=analogRead(A3);

UL=analogRead(A0);

UR=analogRead(A2);

if(UL>UR+w && UL>DR+w && UL>DL+w){ //左上最亮

y=y+1;

if(y>130){y=130; }

servo.write(y);

}

if(UR>UL+w && UR>DR+w && UR>DL+w){ //右上最亮

y=y+1;

if(y>130){y=130; }

servo.write(y);

}

if(DL>UR+w && DL>DR+w && DL>UL+w){ //左下最亮

y=y-1;

if(y<5){y=5; }

servo.write(y);

}

if(DR>UL+w && DR>DL+w && DR>UR+w){ //右下最亮

y=y-1;

if(y<5){y=5; }

servo.write(y);

}

LCD_Display();

if(abs(UL-DL)<w && UL>UR && DL>DR){

mode=1;

}

if(abs(UR-DR)<w && UR>UL && DR>DL){

mode=1;

}

digitalWrite(13,0);

}