Arduinoで太陽追尾装置を作る：4つのLDRとサーボの2軸タイプ

1// 4 LDR'yi okuyup Seri Çizici'ye yazar / reads 4 LDRs for the Serial Plotter
2const int LDR[4] = {A0, A1, A2, A3};   // sol üst, sağ üst, sol alt, sağ alt / TL, TR, BL, BR
3
4void setup() {
5  Serial.begin(9600);
6}
7
8void loop() {
9  for (int i = 0; i < 4; i++) {
10    Serial.print(analogRead(LDR[i]));
11    Serial.print(i < 3 ? '\t' : '\n');  // sekmeyle ayır / separate with tabs
12  }
13  delay(100);
14}

1#include <Servo.h>
2
3Servo servo;
4const int LDR_EAST = A0;   // doğu tarafındaki LDR / east-side LDR
5const int LDR_WEST = A1;   // batı tarafındaki LDR / west-side LDR
6const int TOL = 30;        // ölü bölge (ADC birimi) / dead band (ADC counts)
7int angle = 90;            // başlangıç: tam güney / start: due south
8
9void setup() {
10  servo.attach(9);
11  servo.write(angle);
12}
13
14void loop() {
15  int diff = analogRead(LDR_EAST) - analogRead(LDR_WEST);
16  if (diff > TOL && angle < 180) angle++;   // doğu daha aydınlık / east is brighter
17  if (diff < -TOL && angle > 0) angle--;    // batı daha aydınlık / west is brighter
18  servo.write(angle);
19  delay(30);                                // servo yetişsin / let the servo settle
20}

1#include <Servo.h>
2
3// Pinler / Pins
4const int LDR[4] = {A0, A1, A2, A3};   // sol üst, sağ üst, sol alt, sağ alt / TL, TR, BL, BR
5const int PANEL_TRACK = A4;            // takip eden panelin bölücüsü / tracking panel divider
6const int PANEL_FIXED = A5;            // sabit panelin bölücüsü / fixed panel divider
7
8// Ayarlar / Settings
9const int OFFSET[4] = {0, 0, 0, 0};    // Adım 1'deki düzeltmeler / corrections from step 1
10const int TOL_START = 40;              // fark bunu aşınca dön / start turning above this
11const int TOL_STOP = 15;               // fark bunun altına inince dur / stop below this
12const int DIR_H = 1, DIR_V = 1;        // ters dönüyorsa -1 yap / set to -1 if it turns away
13const int H_MIN = 0, H_MAX = 180;      // yatay sınırlar / horizontal limits
14const int V_MIN = 10, V_MAX = 90;      // dikey sınırlar / vertical limits
15const int H_PARK = 180, V_PARK = 45;   // gece konumu: doğu (batıda bekliyorsa H_PARK = 0) / night position: east (0 if it waits facing west)
16const int NIGHT = 60;                  // ortalama bunun altındaysa gece / below this average = night
17const float DIVIDER = 3.2;             // (22k + 10k) / 10k
18const float LOAD_OHM = 33.0;           // yük direnci / load resistor
19const unsigned long LOG_MS = 60000;    // kayıt aralığı: 1 dk / log interval: 1 min
20
21Servo servoH, servoV;                  // yatay ve dikey eksen / horizontal and vertical axis
22int angleH = 90, angleV = 45;
23bool movingH = false, movingV = false;
24unsigned long lastStep = 0, lastLog = 0, darkSince = 0;
25float mWhTrack = 0, mWhFixed = 0;      // toplanan enerji / collected energy
26
27int readAvg(int pin) {                 // 8 okumanın ortalaması / average of 8 readings
28  long sum = 0;
29  for (int i = 0; i < 8; i++) sum += analogRead(pin);
30  return sum / 8;
31}
32
33// Ölü bölge + histerezis / dead band + hysteresis
34int correct(int diff, bool &moving, int angle, int dir, int lo, int hi) {
35  if (abs(diff) > TOL_START) moving = true;
36  if (abs(diff) < TOL_STOP) moving = false;
37  if (moving) angle += (diff > 0 ? 1 : -1) * dir;
38  return constrain(angle, lo, hi);
39}
40
41float panelVolts(int pin) {            // bölücüden panel gerilimi / panel voltage from divider
42  return readAvg(pin) * 5.0 / 1023.0 * DIVIDER;
43}
44
45void setup() {
46  Serial.begin(9600);
47  servoH.attach(9);
48  servoV.attach(10);
49  servoH.write(angleH);
50  servoV.write(angleV);
51  Serial.println("dk,V_takip,V_sabit,mW_takip,mW_sabit,mWh_takip,mWh_sabit");
52}
53
54void loop() {
55  unsigned long now = millis();
56
57  if (now - lastStep >= 40) {          // saniyede 25 düzeltme / 25 corrections per second
58    lastStep = now;
59    int v[4];
60    for (int i = 0; i < 4; i++) v[i] = readAvg(LDR[i]) + OFFSET[i];
61    int avg = (v[0] + v[1] + v[2] + v[3]) / 4;
62    int dV = (v[0] + v[1]) / 2 - (v[2] + v[3]) / 2;   // üst - alt / top - bottom
63    int dH = (v[0] + v[2]) / 2 - (v[1] + v[3]) / 2;   // sol - sağ / left - right
64
65    if (avg > NIGHT) {
66      darkSince = now;
67      angleV = correct(dV, movingV, angleV, DIR_V, V_MIN, V_MAX);
68      angleH = correct(dH, movingH, angleH, DIR_H, H_MIN, H_MAX);
69    } else if (now - darkSince > 600000UL) {           // 10 dk karanlık / 10 min of darkness
70      angleH = H_PARK;
71      angleV = V_PARK;
72    }
73    servoH.write(angleH);
74    servoV.write(angleV);
75  }
76
77  if (now - lastLog >= LOG_MS) {       // dakikada bir CSV satırı / one CSV line per minute
78    lastLog = now;
79    float vt = panelVolts(PANEL_TRACK), vf = panelVolts(PANEL_FIXED);
80    float pt = vt * vt / LOAD_OHM * 1000.0;    // P = V² / R (mW)
81    float pf = vf * vf / LOAD_OHM * 1000.0;
82    mWhTrack += pt * LOG_MS / 3600000.0;       // enerji = güç × süre / energy = power × time
83    mWhFixed += pf * LOG_MS / 3600000.0;
84    Serial.print(now / 60000); Serial.print(',');
85    Serial.print(vt, 2); Serial.print(',');
86    Serial.print(vf, 2); Serial.print(',');
87    Serial.print(pt, 1); Serial.print(',');
88    Serial.print(pf, 1); Serial.print(',');
89    Serial.print(mWhTrack, 1); Serial.print(',');
90    Serial.println(mWhFixed, 1);
91  }
92}

1#include <WiFi.h>
2#include <WebServer.h>
3#include <ESP32Servo.h>
4
5const char* ssid = "AgAdi";            // Wi-Fi adın / your Wi-Fi name
6const char* password = "Sifre123";     // Wi-Fi şifren / your Wi-Fi password
7
8const int LDR[4] = {32, 33, 34, 35};   // sol üst, sağ üst, sol alt, sağ alt (ADC1) / TL, TR, BL, BR (ADC1)
9const int PANEL_TRACK = 36;            // VP: takip eden panel / tracking panel
10const int PANEL_FIXED = 39;            // VN: sabit panel / fixed panel
11const int TOL_START = 160, TOL_STOP = 60;  // 12 bit ölçek: Uno'nun 4 katı / 12-bit scale: 4x the Uno
12const int DIR_H = 1, DIR_V = 1;        // ters dönüyorsa -1 yap / set to -1 if it turns away
13const int NIGHT = 240;                 // gece eşiği / night threshold
14const float DIVIDER = 3.2, LOAD_OHM = 33.0;
15
16Servo servoH, servoV;
17WebServer server(80);
18int angleH = 90, angleV = 45;
19bool movingH = false, movingV = false;
20unsigned long lastStep = 0, lastLog = 0;
21float vt = 0, vf = 0, mWhTrack = 0, mWhFixed = 0;
22
23int readAvg(int pin) {
24  long sum = 0;
25  for (int i = 0; i < 8; i++) sum += analogRead(pin);
26  return sum / 8;
27}
28
29float panelVolts(int pin) {            // kalibre edilmiş mV okuması / calibrated mV reading
30  long mv = 0;
31  for (int i = 0; i < 8; i++) mv += analogReadMilliVolts(pin);
32  return mv / 8 / 1000.0 * DIVIDER;
33}
34
35int correct(int diff, bool &moving, int angle, int dir, int lo, int hi) {
36  if (abs(diff) > TOL_START) moving = true;
37  if (abs(diff) < TOL_STOP) moving = false;
38  if (moving) angle += (diff > 0 ? 1 : -1) * dir;
39  return constrain(angle, lo, hi);
40}
41
42void handleRoot() {                    // telefondan izleme sayfası / page for your phone
43  float gain = mWhFixed > 0 ? (mWhTrack - mWhFixed) / mWhFixed * 100.0 : 0;
44  String s = "Takip / tracking: " + String(vt, 2) + " V, " + String(mWhTrack, 1) + " mWh\n";
45  s += "Sabit / fixed: " + String(vf, 2) + " V, " + String(mWhFixed, 1) + " mWh\n";
46  s += "Kazanc / gain: %" + String(gain, 1) + "\n";
47  s += "Aci / angle: H " + String(angleH) + ", V " + String(angleV) + "\n";
48  server.send(200, "text/plain", s);
49}
50
51void setup() {
52  Serial.begin(115200);
53  servoH.setPeriodHertz(50);           // standart servo: 50 Hz / standard servo: 50 Hz
54  servoV.setPeriodHertz(50);
55  servoH.attach(18, 500, 2400);        // 500–2400 µs darbe / pulse
56  servoV.attach(19, 500, 2400);
57  servoH.write(angleH);
58  servoV.write(angleV);
59  WiFi.begin(ssid, password);
60  for (int i = 0; i < 40 && WiFi.status() != WL_CONNECTED; i++) delay(500);  // en fazla 20 s bekle; Wi-Fi yoksa da takip eder / wait up to 20 s; tracks even without Wi-Fi
61  Serial.println(WiFi.localIP());      // bu adresi telefonda aç / open this address on your phone
62  server.on("/", handleRoot);
63  server.begin();
64}
65
66void loop() {
67  server.handleClient();
68  unsigned long now = millis();
69
70  if (now - lastStep >= 40) {
71    lastStep = now;
72    int v[4];
73    for (int i = 0; i < 4; i++) v[i] = readAvg(LDR[i]);
74    int avg = (v[0] + v[1] + v[2] + v[3]) / 4;
75    int dV = (v[0] + v[1]) / 2 - (v[2] + v[3]) / 2;   // üst - alt / top - bottom
76    int dH = (v[0] + v[2]) / 2 - (v[1] + v[3]) / 2;   // sol - sağ / left - right
77    if (avg > NIGHT) {                 // gece hareket etme / do not move at night
78      angleV = correct(dV, movingV, angleV, DIR_V, 10, 90);
79      angleH = correct(dH, movingH, angleH, DIR_H, 0, 180);
80      servoV.write(angleV);
81      servoH.write(angleH);
82    }
83  }
84
85  if (now - lastLog >= 60000) {        // dakikada bir ölç / measure once a minute
86    lastLog = now;
87    vt = panelVolts(PANEL_TRACK);
88    vf = panelVolts(PANEL_FIXED);
89    mWhTrack += vt * vt / LOAD_OHM * 1000.0 / 60.0;   // 1 dakikalık enerji (mWh) / energy of one minute
90    mWhFixed += vf * vf / LOAD_OHM * 1000.0 / 60.0;
91    Serial.printf("%.2f,%.2f,%.1f,%.1f\n", vt, vf, mWhTrack, mWhFixed);
92  }
93}

1from machine import Pin, PWM, ADC
2import time
3
4east = ADC(26)                 # GP26: doğu LDR'si / east LDR
5west = ADC(27)                 # GP27: batı LDR'si / west LDR
6panel = ADC(28)                # GP28: panel bölücüsü / panel divider
7
8servo = PWM(Pin(15))           # GP15: servo sinyali / servo signal
9servo.freq(50)                 # 50 Hz = 20 ms periyot / period
10
11TOL = 2000                     # ölü bölge (0–65535 ölçeği) / dead band (0–65535 scale)
12DIVIDER = 3.2                  # (22k + 10k) / 10k
13LOAD = 33.0                    # yük direnci (ohm) / load resistor (ohm)
14
15def set_angle(a):
16    # 0° = 500 µs, 180° = 2400 µs darbe / pulse
17    servo.duty_ns(int((500 + a * 1900 / 180) * 1000))
18
19def read(adc, n=8):
20    return sum(adc.read_u16() for _ in range(n)) // n
21
22angle = 90
23set_angle(angle)
24energy = 0.0                   # mWh
25last_log = time.ticks_ms()
26
27while True:
28    diff = read(east) - read(west)
29    if diff > TOL and angle < 180:
30        angle += 1             # doğuya dön / turn east
31    elif diff < -TOL and angle > 0:
32        angle -= 1             # batıya dön / turn west
33    set_angle(angle)
34
35    if time.ticks_diff(time.ticks_ms(), last_log) >= 60000:
36        last_log = time.ticks_ms()
37        v = read(panel) * 3.3 / 65535 * DIVIDER
38        p = v * v / LOAD * 1000            # mW
39        energy += p / 60                   # 1 dakikalık enerji / energy of one minute
40        with open("log.csv", "a") as f:    # Pico'nun kendi belleğine yaz / write to Pico's flash
41            f.write("{},{:.2f},{:.1f},{:.1f}\n".format(angle, v, p, energy))
42    time.sleep_ms(30)