Pico solar tracker

main.py

from machine import Pin, ADC, PWM
import utime

MAX_DELTA_ALIGNED = 4000

led = Pin(25, Pin.OUT)

servos = {
    'pan': {
        'min': 1000,
        'max': 9000,
        'current': 0,
        'servo': PWM(Pin(19)),
    },
    'tilt': {
        'min': 1000,
        'max': 5000,
        'current': 0,
        'servo': PWM(Pin(20)),
    },
}

sensors = {
    'top': Pin(0, Pin.OUT),
    'right': Pin(1, Pin.OUT),
    'bottom': Pin(2, Pin.OUT),
    'left': Pin(3, Pin.OUT),
}

adc = ADC(Pin(26))

led.value(1)

for id, servo in servos.items():
    servo['servo'].freq(50)
    max_light = 0
    
    for sensor, pin in sensors.items():
        pin.high()
        
    for i in range(servo['max'], servo['min'], -10):
        servo['servo'].duty_u16(i)
        utime.sleep(0.01)
        value = adc.read_u16()
        if value > max_light:
            max_light = value
            servos[id]['current'] = i
            
    servo['servo'].duty_u16(servos[id]['current'])
    
    for sensor, pin in sensors.items():
        pin.low()
        
led.value(0)

def read_sensors():
    max_value = 0
    lowest_value = 65535
    max_sensor = None
    readings = {}
    for sensor, pin in sensors.items():
        pin.high()
        utime.sleep(0.01)
        value = adc.read_u16()
        readings[sensor] = value
        if value > max_value:
            max_sensor = sensor
            max_value = value
        if value < lowest_value:
            lowest_value = value
        pin.low()
        
    print(readings)
        
    delta = max_value - lowest_value
    
    if delta > MAX_DELTA_ALIGNED:
        print(f'{max_sensor} {max_value} {lowest_value} {delta}')
        
        servo_steps = delta // 100
        
        if servo_steps > 100:
            servo_steps = 100
            
        updated = False
        
        if max_sensor == 'top' and servos['tilt']['current'] > servos['tilt']['min']:
            servos['tilt']['current'] -= servo_steps
            updated = True
            
        if max_sensor == 'bottom' and servos['tilt']['current'] < servos['tilt']['max']:
            servos['tilt']['current'] += servo_steps
            updated = True
            
        if max_sensor == 'left' and servos['pan']['current'] > servos['pan']['min']:
            servos['pan']['current'] -= servo_steps
            updated = True
            
        if max_sensor == 'right' and servos['pan']['current'] < servos['pan']['max']:
            servos['pan']['current'] += servo_steps
            updated = True
        
        if updated:
            led.value(1)
            servos['pan']['servo'].duty_u16(servos['pan']['current'])
            servos['tilt']['servo'].duty_u16(servos['tilt']['current'])
            led.value(0)
        
    print(servos)
    

while True:
    print('----')
    read_sensors()