Solar Sun tracker

VOVOSL_Solarni_Tragac_MKR1000_4.c

#include <Servo.h> 
 
Servo tragac;  //It creates a servo object that manages the servo.

int istokPin = 1;  //It adds analog pins connected to the light sensor
int zapadPin = 2;

int istokVal = 0;   //It creates variables that store sensor values.
int zapadVal = 0;

int greska = 0;
int kalibracija = 204;  //Calibration shift that sets the error to zero when both sensors receive the same amount of light.
int tragacPoz = 90;    //It creates a variable that stores the positioning of the servo.
 
void setup() 
{ 
  tragac.attach(11);  //It adds an object to the servo connected to pin 11.
} 
 
 
void loop() 
{ 
  istokVal = kalibracija + analogRead(istokPin);    //It reads the values of the east and west sensors.
  zapadVal = analogRead(zapadPin);
  if(istokVal<350 && zapadVal<350)  //It checks if both sensors receive a little light, it's dark!
  {
    while(tragacPoz<=160)  //It moves the tracker to the far Eastern position to greet the dawn.
    {
      tragacPoz++;
      tragac.write(tragacPoz);
      delay(100);
    }
  }
  greska = istokVal - zapadVal;          //It determines the difference between two sensors.
  if(greska>15)        //If the error is positive and bigger than 15, it moves the tracker to the East.
  {
    if(tragacPoz<=160)  //It confirms that the tracker is not in the far East position.
    {
      tragacPoz++;
      tragac.write(tragacPoz);  //It moves the tracker to the East.
    }
  }
  else if(greska<-15)  //If the error is negative and lower than -15, it moves the tracker to the West.
  {
    if(tragacPoz>20)  //It confirms that the tracker is not in the far West position.
    {
      tragacPoz--;
      tragac.write(tragacPoz);  //It moves the tracker to the West.
    }
  }
  delay(100);
}