Arduino light tracking code with 4 stepper motors
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This was the code I wrote to track a light source with 4 stepper motors. I averaged the 4 light sensors and created a boolean argument to control the motors. Averaged sensor data was displayed on a 4x16 display I have Autodesk Inventor files available also if you are interested. please email jma2233(AT)email.vccs.edu
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- 1. #include <Stepper.h> #include<LiquidCrystal.h> int tlPin = A0; //set variables for analog inputs int trPin = A1; int blPin = A2; int brPin = A3; int brValue = 0; //assigning variables to the values coming in from pins int blValue = 0; int tlValue = 0; int trValue = 0; int avgl = 0; //averaging of sum**** values int avgr = 0; int avgt = 0; int avgb = 0; bool up = false;//bool variables for motor operation bool down =false; bool left=false; bool right = false;
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- 3. blValue = analogRead(blPin); brValue = analogRead(brPin); avgt = (tlValue+trValue)/2; //averaging the values to get smoother movement avgl = (tlValue+blValue)/2; avgb = (blValue+brValue)/2; avgr = (brValue+trValue)/2; if (avgt > avgb){up = true;} else up=false; if (up==true){ TLstep.step(step1); TRstep.step(-step1); delay(2); } if (avgt<avgb+limit) {down=true;} else down=false; if (down==true){ TLstep.step(-step1); TRstep.step(step1);
- 4. delay(2); } if(avgl>avgr-limit) {left=true;} else left=false; if (left==true){ BRstep.step(step1); BLstep.step(-step1); delay(2); } if(avgl<avgr+limit) {right=true;} else right=false; if(right==true){ BRstep.step(-step1); BLstep.step(step1); delay(2); } Serial.println("New Line"); Serial.println(avgl);
- 5. Serial.println(avgr); Serial.println(avgt); Serial.println(avgb); lcd.setCursor(0,0); //start of display code lcd.print("Top "); lcd.print(avgt); lcd.setCursor(0,1); lcd.print("Left "); lcd.print(avgl); lcd.setCursor(0,2); lcd.print("Right "); lcd.print(avgr); lcd.setCursor(0,3); lcd.print("Bottom "); lcd.print(avgb); }