SCHEMATIC CIRCUIT

CODE
1 #include <Wire.h>
2 #include <IRremote.hpp>
3 #include <LiquidCrystal_I2C.h>
4
5 IRrecv IR(3);
6 LiquidCrystal_I2C lcd(0x27, 16, 2); // set the LCD address to 0x27 for 16 chars and 2 line
display
7
8 #define LDR_U A0 //up ldr
9 #define LDR_D A1 //down ldr
10 #define LDR_R A2 //right ldr
11 #define LDR_L A3 //left ldr
12
13 #define hor_1 4 // in1 for horizontal motor
14 #define hor_2 2 //in2 for horizontal motor
15 #define e_hor 5 // horizontal motor "speed"
16
17 #define ver_1 7 //in1 for vertical motor
18 #define ver_2 8 //in2 for vertical motor
19 #define e_ver 6 //enable vertical, must be pwm "speed"
20
21 void setup()
22 {
23 lcd.init();
24 lcd.backlight();
25 lcd.setCursor(0, 0);
26 lcd.print("SOLAR TRACKER");
27 lcd.setCursor(0, 1);

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 28 lcd.print("PROJECT");
29 IR.enableIRIn();
30 Serial.begin(9600);
31 pinMode(e_hor, OUTPUT); pinMode(hor_2, OUTPUT); pinMode(hor_1, OUTPUT);//horizontl motor
32 pinMode(e_ver, OUTPUT); pinMode(ver_1, OUTPUT); pinMode(ver_2, OUTPUT);//vertical motor
33 pinMode(LDR_U, INPUT); pinMode(LDR_L, INPUT); pinMode(LDR_R, INPUT); pinMode(LDR_D, INPUT);
34 }
35 void loop()
36 {
37 if ( IR.decode())
38 {
39 Serial.println(IR.decodedIRData.decodedRawData, HEX);
40
///////////////////////////////////////////////////////////////////////////////////////////////
/////////////
41 if (IR.decodedIRData.decodedRawData == 0xB847FF00)
42 {
43 analogWrite(e_hor, 90); digitalWrite(hor_1, 1); digitalWrite(hor_2, 0);
44 analogWrite(e_ver, 0); digitalWrite(ver_1, 0); digitalWrite(ver_2, 0);
45 lcd.clear();
46 lcd.setCursor(0, 0);
47 lcd.print("MOVING RIGHT");
48 }
49
//&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&
&&&&&&&&&&&&&//
50 else if (IR.decodedIRData.decodedRawData == 0xBC43FF00)
51 {
52 analogWrite(e_hor, 90); digitalWrite(hor_1, 0); digitalWrite(hor_2, 1);
53 analogWrite(e_ver, 0); digitalWrite(ver_1, 0); digitalWrite(ver_2, 0);
54 lcd.clear();
55 lcd.setCursor(0, 0);
56 lcd.print("MOVING LEFT");
57 }
58
//&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&
&&&&&&&&&&&&&//
59 else if (IR.decodedIRData.decodedRawData == 0xF609FF00)
60 {
61 analogWrite(e_hor, 0); digitalWrite(hor_1, 0); digitalWrite(hor_2, 0);
62 analogWrite(e_ver, 80); digitalWrite(ver_1, 1); digitalWrite(ver_2, 0);
63 lcd.clear();
64 lcd.setCursor(0, 0);
65 lcd.print("MOVING DOQN");
66 }
67
//&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&
&&&&&&&&&&&&&//
68 else if (IR.decodedIRData.decodedRawData == 0xF20DFF00)
69 {
70 analogWrite(e_hor, 0); digitalWrite(hor_1, 0); digitalWrite(hor_2, 0);
71 analogWrite(e_ver, 80); digitalWrite(ver_1, 0); digitalWrite(ver_2, 1);
72 lcd.clear();
73 lcd.setCursor(0, 0);
74 lcd.print("MOVING UP");
75 }
76
//&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&
&&&&&&&&&&&&&//
77 else
78 {
79 analogWrite(e_hor, 0); digitalWrite(hor_1, 0); digitalWrite(hor_2, 0);

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 80 analogWrite(e_ver, 0); digitalWrite(ver_1, 0); digitalWrite(ver_2, 0);
81 lcd.setCursor(0, 1);
82 lcd.print("'last motion'");
83 }
84 IR.resume();
85
///////////////////////////////////////////////////////////////////////////////////////////////
///////////////
86 }
87 //else if (IR.decodedIRData.decodedRawData == 0xBA45FF00)
88 //{
89 float up = analogRead(LDR_U);
90 float down = analogRead(LDR_D);
91 float left = analogRead(LDR_L);
92 float right = analogRead(LDR_R);
93 // PID parameters
94 float Kph = 0.6; float Kih = 0; float Kdh = 0.009;
95 float Kpv = 0.5; float Kiv = 0.01; float Kdv = 0.006;
96 float integral_V = 0; float integral_H = 0;
97 float derivative_V = 0; float derivative_H = 0;
98 float last_error_V = 0; float last_error_H = 0;
99 int Error_V = up - down; int Error_H = left - right;
100 integral_V += Error_V; derivative_V = Error_V - last_error_V;
101 integral_H += Error_H; derivative_H = Error_H - last_error_H;
102 double output_V = Kpv * Error_V + Kiv * integral_V + Kdv * derivative_V;
103 last_error_V = Error_V;
104 double output_H = Kph * Error_H + Kih * integral_H + Kdh * derivative_H;
105 last_error_H = Error_H;
106 Serial.print("H= ");
107 //Serial.println(output_H);
108 //Serial.print("V= ");
109 //Serial.println(output_V);
110 //Serial.println(left);
111 //Serial.println(right);
112 //Serial.println(down);
113 //Vertical motion
114 if (output_V > 0)
115 {
116 analogWrite(e_hor, 0); digitalWrite(hor_1, 0); digitalWrite(hor_2, 0);
117 analogWrite(e_ver, abs(output_V)); digitalWrite(ver_1, 0); digitalWrite(ver_2, 1);
118 lcd.clear();
119 lcd.setCursor(0, 0);
120 lcd.print("MOVING UP");
121 }
122
//&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&
&&&&&&&&&&&&&//
123 else if (output_V < 0)
124 {
125 analogWrite(e_hor, 0); digitalWrite(hor_1, 0); digitalWrite(hor_2, 0);
126 analogWrite(e_ver, abs(output_V)); digitalWrite(ver_1, 1); digitalWrite(ver_2, 0);
127 lcd.clear();
128 lcd.setCursor(0, 0);
129 lcd.print("MOVING DOWN");
130 }
131
//&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&
&&&&&&&&&&&&&//
132 //Horizontal motion
133 if (output_H < 0)
134 {
135 analogWrite(e_hor, abs(output_H)); digitalWrite(hor_1, 1); digitalWrite(hor_2, 0);

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136 analogWrite(e_ver, 0); digitalWrite(ver_1, 0); digitalWrite(ver_2, 0);
137 lcd.clear();
138 lcd.setCursor(0, 0);
139 lcd.print("MOVING RIGHT");
140 }
141
//&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&
&&&&&&&&&&&&&//
142 else if (output_H > 0)
143 {
144 analogWrite(e_hor, abs(output_H)); digitalWrite(hor_1, 0); digitalWrite(hor_2, 1);
145 analogWrite(e_ver, 0); digitalWrite(ver_1, 0); digitalWrite(ver_2, 0);
146 lcd.clear();
147 lcd.setCursor(0, 0);
148 lcd.print("MOVING LEFT");
149 }
150
//&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&
&&&&&&&&&&&&&//
151 else
152
153 {
154 analogWrite(e_hor, 0); digitalWrite(hor_1, 0); digitalWrite(hor_2, 0);
155 analogWrite(e_ver, 0); digitalWrite(ver_1, 0); digitalWrite(ver_2, 0);
156 lcd.clear();
157 //lcd.setCursor(0, 1);
158 //lcd.print("'last motion'");
159 }
160 }

6
EMBEDDED SOFTWARE DESIGN

The Arduino “microcontroller” is the main brain for all the actions.
The motor driver which include 2 H-Bridges will control the speed of the motors as it
contains 6 pins :
For the horizontal motor there are 3 pins:
1,2 are for controlling the direction of rotation and the other pin is ENABLE for
controlling speed of rotation
For the vertical motor there are 3 pins:
3,4 are for controlling the direction of rotation and the other pin is ENABLE for
controlling speed of rotation
In manual mode:
This mode depends on the serial sent to the receiver by the remote-control which is in
hexadecimal form,
When the read is equal to 0xB847FF00:
The horizontal motor will move with speed 90, input 1 will turn on, input 2 will turn
off. On the other side all the pins of the vertical motor are turned off. Therefore, the
horizontal motor will move in the clockwise direction and the LCD will print "MOVING
RIGHT".
When the read is equal to 0xBC43FF00:
The horizontal motor will move with speed 90, input 1 will turn off, input 2 will turn
on. On the other side all the pins of the vertical motor are turned off. Therefore, the
horizontal motor will move in the anti-clockwise direction and the LCD will print
"MOVING LEFT".
When the read is equal to 0xF609FF00:
The vertical motor will move with speed 80, input 3 will turn on, input 4 will turn off.
On the other side all the pins of the horizontal motor are turned off. Therefore, the
horizontal motor will move in the clock wise direction and the LCD will print "MOVING
UP".
When the read is equal to 0xF20DFF00:
The vertical motor will move with speed 80, input 3 will turn off, input 4 will turn on.
On the other side all the pins of the horizontal motor are turned off. Therefore, the
horizontal motor will move in the anti-clockwise direction and the LCD will print
"MOVING DOWN".
If no serial sent at last:

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The pins of the two motors are turned off and the LCD will print: its last step + "last
motion"

In automatic mode: This mode depends on the LDRs as their resistance decrease
when light intensity increase, and by PID controller: which is the ability to use the
three control terms of proportional, integral and derivative influence on the controller
output to apply accurate and optimal control.
The equations for the proportional, integral, and derivative terms for vertical motor
are as follows:
Vertical error = up- down
Proportional Output = Kpv * (Vertical error)
Integral of Error = summation of vertical errors
Integral Output = Kiv * Integral of Error
Derivative of Error = vertical error – last error
Where last error is the error in the previous loop
Derivative Output = Kdv * Derivative of Error
The PID output is the sum of the proportional, integral, and derivative terms:
PID Output for vertical = Proportional Output + Integral Output + Derivative Output
And in some case the output may be in negative so we put it in absolute value.

The equations for the proportional, integral, and derivative terms for horizontal motor
are as follows:
Horizontal error = left - right
Proportional Output = Kph * (Horizontal error)
Integral of Error = summation of horizontal errors
Integral Output = Kih * Integral of Error
Derivative of Error = horizontal error – last error
Where last error is the error in the previous loop
Derivative Output = Kdh* Derivative of Error
The PID output is the sum of the proportional, integral, and derivative terms:
PID Output for horizontal = Proportional Output + Integral Output + Derivative Output
And in some case the output may be in negative so we put it in absolute value.

When the light is focused on the upper LDR more than the lower one :
The vertical motor will move with speed Output for vertical , input 3 will turn on, input
4 will turn off. On the other side all the pins of the horizontal motor are turned off.
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Therefore, the horizontal motor will move in the clock wise direction and the LCD will
print "MOVING UP".
When the light is focused on the lower LDR more than the uper one:
The vertical motor will move with speed Output for vertical, input 3 will turn off, input
4 will turn on. On the other side all the pins of the horizontal motor are turned off.
Therefore, the horizontal motor will move in the anti-clockwise direction and the LCD
will print "MOVING DOWN".
When the light is focused on the right LDR more than the left one:
The horizontal motor will move with speed Output for horizontal, input 1 will turn on,
input 2 will turn off. On the other side all the pins of the vertical motor are turned off.
Therefore, the horizontal motor will move in the clockwise direction and the LCD will
print "MOVING RIGHT".
When the light is focused on the left LDR more than the right one:
The horizontal motor will move with speed Output for horizontal, input 1 will turn off,
input 2 will turn on. On the other side all the pins of the vertical motor are turned off.
Therefore, the horizontal motor will move in the anti-clockwise direction and the LCD
will print "MOVING LEFT".
If no more light is focused at last:
The pins of the two motors are turned off and the LCD will print: its last step + "last
motion"
COMMENT:
There is no option for two LDRs to have the same reading as they are very sensitive
for light, therefore it’s very hard for the motors speed to reach zero as the error in this
case will be very small and in reality we can see that the motors make noise trying to
move but actually they can’t.

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LIST OF COMPONENTS

COMPONENTS FUNCTION
Arduino Uno Microcontroller board that can be integrated into a variety of
electronic projects, it controls LEDs and motors as output.
L298N motor driver Dual H-bridge motor driver that controls direction and speed of two
DC motors at the same time.
4 LDRs Detect light levels.
3 lithium batteries Flows the electrical from the positive current collector through the
device being powered to the negative current collector.
Battery holder Holds the batteries in place safely and securely.
2 DC motors Take electrical power through direct current and convert it into
mechanical rotation.
LCD I2C A controller chip handling I2C communications and an adjustable
potentiometer for changing the intensity off the LED backlight.
Receiver A circuit that accepts signals from a transmission medium and
decodes or translates them into a form that can drive local circuits.
Resistances Electrical component that limits or regulates the flow of electrical
current in an electronic circuit.
Bread board Used for building temporary circuits.
Remote control Electronic device used to operate another device from a distance,
usually wirelessly.
Jumper wires Connect two points in a circuit without soldering.

APPS AND PLATFORMS

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