Dual axis sun tracker using three LDR and Arduino Uno

dual_axis_three_ldr_sun_tracker.ino

#include <Servo.h>

#define NUM_PINS    3

int sensorPins[NUM_PINS] = {A0, A1, A2};

int sensorValues[NUM_PINS] = {0, 0, 0};

Servo lrservo;
Servo tbservo;

int inPin = 7;
int ledPin = 13;

void setup() {
  Serial.begin(9600); //sets serial port for communication
  lrservo.attach(10, 544, 2260);  // attaches the servo on pin 9 to the servo object
  tbservo.attach(9, 544, 2260);  // attaches the servo on pin 9 to the servo object

  lrservo.write(90);
  tbservo.write(90);

  pinMode(ledPin, OUTPUT);
}

char str[1024];

int lrangle = 90;
int tbangle = 90;

void readInputs() {
  for (int i = 0; i < NUM_PINS; i++) {
    sensorValues[i] = sensorValues[i] * 0.6 + analogRead(sensorPins[i]) * 0.4;
    // sensorValues[i] = analogRead(sensorPins[i]) * 0.5;
  }
  //sprintf(str, "%f %f %f", sensorValues[0], sensorValues[1], sensorValues[2]);
  Serial.println(str);

}
void calibrate() {
  digitalWrite(ledPin, HIGH);
  readInputs();
}

int getAngle(int a, int b, int init, int fast, int min, int max) {
  int angle = init;
  if (a < b) {
    angle += (b - a) > 20 ? fast : (b - a) > 4 ?  fast / 2 : 0;
  } else {
    angle -= (a - b) > 20 ? fast : (a - b) > 4 ? fast / 2 : 0;
  }

  if (angle < min) {
    angle = min;
  } else if (angle > max) {
    angle = max;
  }
  return angle;
}

int loopCount = 0;

void operate() {
  digitalWrite(ledPin, LOW);
  loopCount++;
  //if (loopCount % 2 == 0) {
    readInputs();
  //} else {

    int top = sensorValues[1];
    int bottom = sensorValues[2];

    int left = sensorValues[0];
    int right = (sensorValues[1] + sensorValues[2]) / 2;

    tbangle = getAngle(top, bottom, tbangle, 8, 30, 170);
    lrangle = getAngle(left, right, lrangle, 8, 20, 160);

    sprintf(str, "%d %d %d,   TB : %d  %d,   LR: %d %d  lrangle: %d, tbangle: %d", sensorValues[0], sensorValues[1], sensorValues[2], top, bottom, left, right, lrangle, tbangle);

    Serial.println(str);

    lrservo.write(lrangle);
    tbservo.write(tbangle);
  //}
}

void loop() {
  if (millis() < 10) {
    calibrate();
  } else {
    operate();
  }

  delay(5);
}