/* Solar Tracker Code with 4 buttons for manual orientation and
4 ldr sensors to automaticaly traking the sun.*/
//set constant pin numbers
#include <Servo.h>
#include <LiquidCrystal_I2C.h>

#define I2C_ADDR    0x27
#define LCD_COLUMNS 20
#define LCD_LINES   4
LiquidCrystal_I2C lcd(I2C_ADDR, LCD_COLUMNS, LCD_LINES);

Servo servohori;
int servoh = 0;
int servohLimitHigh = 180;
int servohLimitLow = 0;

Servo servoverti;
int servov = 0;
int servovLimitHigh = 180;
int servovLimitLow = 0;

int x_axis_degree = 90;
int y_axis_degree = 90;

int wbuttonPin = 4;
int ebuttonPin = 2;
int tbuttonPin = 8;
int bbuttonPin = 12;
int switch1Pin = 7;
int switch2Pin = 5;

int ldrtopl = A0; //top left LDR green
int ldrtopr = A1; //top right LDR yellow
int ldrbotl = A2; // bottom left LDR blue
int ldrbotr = A3; // bottom right LDR orange

#define left_joystick_x A4
#define left_joystick_y A5

/*int eldr = A0;
int wldr = A1;
int tldr = A2;
int bldr = A3;*/
/*Servo myservo1;
Servo myservo2;*/

//int IN1 = 13;
//int IN2 = 9;
//int IN3 = 10;
//int IN4 = 11;
int eastldr = 0;
int westldr = 0;
int topldr = 0;
int botldr = 0;
int error = 0;
int poserror = 0;
int tberror = 0;
int tbposerror = 0;
int westbutton = 0;
int eastbutton = 0;
int topbutton = 0;
int botbutton = 0;
int onoffswitch = 0;
int singledualswitch = 0;
void setup() {

  servohori.attach(10);
  servohori.write(0);
  servoverti.attach(9);
  servoverti.write(0);
  delay(500);

  pinMode (8, INPUT_PULLUP);
  pinMode (12, INPUT_PULLUP);
  pinMode (9, OUTPUT);
  pinMode (10, OUTPUT);
  pinMode (4, INPUT_PULLUP);
  pinMode (2, INPUT_PULLUP);
  pinMode (5, INPUT_PULLUP);
  pinMode (7, INPUT_PULLUP);
  Serial.begin(9600);
}

void loop() {Serial.print("start program");

  //digitalWrite(IN1, LOW);
  //digitalWrite(IN2, LOW);
  //digitalWrite(IN3, LOW);
  //digitalWrite(IN4, LOW);

/*DONE*/
  onoffswitch = digitalRead(switch1Pin);
  singledualswitch = digitalRead(switch2Pin);
  while  (onoffswitch == LOW  ) { //manual rotating of the panel
    eastldr = analogRead(A0);
    westldr = analogRead(A1);
    topldr  = analogRead(A2);
    botldr  = analogRead(A3);
    
    /*eastbutton = digitalRead(ebuttonPin);
    if (eastbutton == HIGH){
      myservo1.write(0);
      myservo2.write(180);
      //digitalWrite(IN1, HIGH);
      //digitalWrite(IN2, LOW);
    } // rotate to east side when you push the right button
    else {
      myservo1.write(0);
      //digitalWrite(IN1, LOW);
    }
      westbutton = digitalRead(wbuttonPin);
    if (westbutton == HIGH){
      myservo1.write(180);
      //digitalWrite(IN2, HIGH);
    } //rotate to west side when you push the left button
    else {
      myservo1.write(0);
      //digitalWrite(IN2, LOW);
    }
    topbutton = digitalRead(tbuttonPin);
    if (topbutton == HIGH){
      myservo2.write(90);
      //digitalWrite(IN4, HIGH);
    } //rotate to west side when you push the left button
    else {
     myservo2.write(0);
     //digitalWrite(IN4, LOW);
    }
    
    botbutton = digitalRead(bbuttonPin);
    if (botbutton == HIGH){ 
      myservo2.write(90);
      //digitalWrite(IN3, HIGH);
    } //rotate to west side when you push the left button
    else {
    myservo2.write(0);
    //digitalWrite(IN3, LOW);
    }*/

  int left_joystick_x_value = analogRead(left_joystick_x);
  int left_joystick_y_value = analogRead(left_joystick_y);
  //int right_joystick_x_value = analogRead(right_joystick_x);
  //int right_joystick_y_value = analogRead(right_joystick_y);

  if(left_joystick_x_value < 300) x_axis_degree -=7;
  else if(left_joystick_x_value > 600) x_axis_degree +=7;

  if(left_joystick_y_value < 340) y_axis_degree -=7;
  else if(left_joystick_y_value > 680) y_axis_degree +=7;


  //*************
  //You should decide the max/min angles.
  
  x_axis_degree = min(180, max(0, x_axis_degree));
  y_axis_degree = min(180, max(0, y_axis_degree));

  Serial.print("x_axis_degree : ");
  Serial.print(x_axis_degree);
  Serial.print(", y_axis_degree : ");
  Serial.print(y_axis_degree);

    
  servohori.write(x_axis_degree);
  servoverti.write(y_axis_degree);

  onoffswitch = digitalRead(switch1Pin);
  singledualswitch = digitalRead(switch2Pin);
    Serial.println(eastldr);
    Serial.println(westldr);
    Serial.println(topldr);
    Serial.println(botldr);
  //init
  lcd.init();
  lcd.backlight();

  // Print something
  lcd.setCursor(2, 0);
  lcd.print("Manual Dual Axis");
  lcd.setCursor(2, 1);
  lcd.print("x_axis_degree:");
  lcd.print(x_axis_degree);
  lcd.setCursor(2, 2);
  lcd.print("y_axis_degree:");
  lcd.print(y_axis_degree);
  //lcd.setCursor(6, 1);
  //lcd.print();
  //lcd.setCursor(3, 2);
  //lcd.print();
} /*DONE*/  

/*
  onoffswitch = digitalRead(switch1Pin);
  singledualswitch = digitalRead(switch2Pin);
  while  (onoffswitch == LOW  ) { //manual rotating of the panel
  //while  (onoffswitch == LOW && singledualswitch == LOW ){ //Manual Single Axis
    eastldr = analogRead(A0);
    westldr = analogRead(A1);
    topldr  = analogRead(A2);
    botldr  = analogRead(A3);
    
    /*eastbutton = digitalRead(ebuttonPin);
    if (eastbutton == HIGH){
      myservo1.write(0);
      myservo2.write(180);
      //digitalWrite(IN1, HIGH);
      //digitalWrite(IN2, LOW);
    } // rotate to east side when you push the right button
    else {
      myservo1.write(0);
      //digitalWrite(IN1, LOW);
    }
      westbutton = digitalRead(wbuttonPin);
    if (westbutton == HIGH){
      myservo1.write(180);
      //digitalWrite(IN2, HIGH);
    } //rotate to west side when you push the left button
    else {
      myservo1.write(0);
      //digitalWrite(IN2, LOW);
    }
    topbutton = digitalRead(tbuttonPin);
    if (topbutton == HIGH){
      myservo2.write(90);
      //digitalWrite(IN4, HIGH);
    } //rotate to west side when you push the left button
    else {
     myservo2.write(0);
     //digitalWrite(IN4, LOW);
    }
    
    botbutton = digitalRead(bbuttonPin);
    if (botbutton == HIGH){ 
      myservo2.write(90);
      //digitalWrite(IN3, HIGH);
    } //rotate to west side when you push the left button
    else {
    myservo2.write(0);
    //digitalWrite(IN3, LOW);
    }*

  int left_joystick_x_value = analogRead(left_joystick_x);
  //int left_joystick_y_value = analogRead(left_joystick_y);
  //int right_joystick_x_value = analogRead(right_joystick_x);
  //int right_joystick_y_value = analogRead(right_joystick_y);

  if(left_joystick_x_value < 300) x_axis_degree -=7;
  else if(left_joystick_x_value > 600) x_axis_degree +=7;

  //if(left_joystick_y_value < 340) y_axis_degree -=7;
  //else if(left_joystick_y_value > 680) y_axis_degree +=7;


  //*************
  //You should decide the max/min angles.
  
  x_axis_degree = min(180, max(0, x_axis_degree));
  y_axis_degree = min(180, max(0, y_axis_degree));

  Serial.print("x_axis_degree : ");
  Serial.print(x_axis_degree);
  Serial.print(", y_axis_degree : ");
  Serial.print(y_axis_degree);

    
  servohori.write(x_axis_degree);
  servoverti.write(y_axis_degree);

  onoffswitch = digitalRead(switch1Pin);
  singledualswitch = digitalRead(switch2Pin);
    Serial.println(eastldr);
    Serial.println(westldr);
    Serial.println(topldr);
    Serial.println(botldr);
  //init
  lcd.init();
  lcd.backlight();

  // Print something
  lcd.setCursor(6, 0);
  lcd.print("Manual");
  lcd.setCursor(2, 1);
  lcd.print("x_axis_degree:");
  lcd.print(x_axis_degree);
  lcd.setCursor(2, 2);
  lcd.print("y_axis_degree:");
  lcd.print(y_axis_degree);
  
  //lcd.setCursor(3, 2);
  //lcd.print();
} */  

//automaticaly rotating of the panel
//check east-west orientation first

 /* if (eastldr < 400 && westldr < 400)
 {digitalWrite(IN1,HIGH)
 delay(7500)
 digitalWrite(IN1,LOW)}*/


  onoffswitch = digitalRead(switch1Pin);
  singledualswitch = digitalRead(switch2Pin);
  while  (onoffswitch == HIGH && singledualswitch == LOW ){ //auto single axis

  /*eastldr = analogRead(A0); //=ldr top r
  westldr = analogRead(A1); //=ldr bot r
  topldr = analogRead(A2); //=ldr top l
  botldr = analogRead(A3); //=ldr bot l

                    error = (((eastldr+topldr)/2) - ((westldr+botldr)/2));
                            poserror = abs(error);
 if (poserror > 10){
 if (error > 0) {
   myservo1.write(90);
   //digitalWrite(IN2, HIGH);
//  Serial.print("IN2 HIGH");
  }
  else if (error < 0){
   myservo1.write(90);
   //digitalWrite(IN1, HIGH);
//Serial.print("IN1 HIGH");
  }}
  else if (poserror <= 10 )  {
    myservo2.write(0);
    //digitalWrite(IN1, LOW);
    //digitalWrite(IN2, LOW);
//Serial.print("LOW BOTH");
    }

Serial.println(eastldr);
Serial.println(westldr);
Serial.println(topldr);
Serial.println(botldr);*/

  servoh = servohori.read();
  servov = servoverti.read();
  //capturing analog values of each LDR
  int topl = analogRead(ldrtopl);
  int topr = analogRead(ldrtopr);
  int botl = analogRead(ldrbotl);
  int botr = analogRead(ldrbotr);
  // calculating average
  int avgtop = (topl + topr) / 2; //average of top LDRs
  int avgbot = (botl + botr) / 2; //average of bottom LDRs
//int avgleft = (topl + botl) / 2; //average of left LDRs
//int avgright = (topr + botr) / 2; //average of right LDRs

  if (avgtop < avgbot){
    servoverti.write(servov +1);
    if (servov > servovLimitHigh)
     {
      servov = servovLimitHigh;
     }
    delay(10);
  }
  else if (avgbot < avgtop){
    servoverti.write(servov -1);
    if (servov < servovLimitLow)
  {
    servov = servovLimitLow;
  }
    delay(10);
  }
  else{
    servoverti.write(servov);
  }
  onoffswitch = digitalRead(switch1Pin);
  singledualswitch = digitalRead(switch2Pin);
}


/*DONE*/
onoffswitch = digitalRead(switch1Pin);
singledualswitch = digitalRead(switch2Pin);
  while  (onoffswitch == HIGH & singledualswitch == HIGH ){ //auto dual axis
  /*topldr = analogRead(A2);
  botldr = analogRead(A3);
  eastldr = analogRead(A0);
  westldr = analogRead(A1);
                             
                  tberror = (((topldr+westldr)/2) - ((botldr+eastldr)/2));
                            tbposerror = abs(tberror);
    
                   error = (((eastldr+topldr)/2) - ((westldr+botldr)/2));
                            poserror = abs(error);
                                     if (poserror > 10){
 if (error > 0) {
   myservo1.write(90);;
   //digitalWrite(IN2, HIGH);

//  Serial.print("IN2 HIGH");
  }
  else if (error < 0)    {
   myservo1.write(90);
   //digitalWrite(IN1, HIGH);

//Serial.print("IN1 HIGH");
  }}
  else if (poserror <= 10 )  {
    myservo1.write(0);
    //digitalWrite(IN1, LOW);
    //digitalWrite(IN2, LOW);
    }

Serial.println(eastldr);
Serial.println(westldr);
  if (tbposerror > 10)
{ if (tberror > 0) {
    myservo2.write(90);
    //digitalWrite(IN4, HIGH);

}    else if (tberror < 0)    {
      myservo2.write(90);
      //digitalWrite(IN3, HIGH);

    }
  }
  else if (poserror <= 10 )  {
    myservo2.write(0);
    //digitalWrite(IN4, LOW);
    //digitalWrite(IN3, LOW);
  }*/

  servoh = servohori.read();
  servov = servoverti.read();
  //capturing analog values of each LDR
  int topl = analogRead(ldrtopl);
  int topr = analogRead(ldrtopr);
  int botl = analogRead(ldrbotl);
  int botr = analogRead(ldrbotr);
  // calculating average
  int avgtop = (topl + topr) / 2; //average of top LDRs
  int avgbot = (botl + botr) / 2; //average of bottom LDRs
  int avgleft = (topl + botl) / 2; //average of left LDRs
  int avgright = (topr + botr) / 2; //average of right LDRs

  if (avgtop < avgbot){
    servoverti.write(servov +1);
    if (servov > servovLimitHigh){
      servov = servovLimitHigh;
    }
    delay(10);
  }
  else if (avgbot < avgtop)
  {
    servoverti.write(servov -1);
    if (servov < servovLimitLow){
    servov = servovLimitLow;
    }
    delay(10);
  }
  else{
    servoverti.write(servov);
  }
 
  if (avgleft > avgright){
    servohori.write(servoh +1);
    if (servoh > servohLimitHigh){
    servoh = servohLimitHigh;
    }
    delay(10);
  }
  else if (avgright > avgleft){
    servohori.write(servoh -1);
    if (servoh < servohLimitLow){
     servoh = servohLimitLow;
    }
    delay(10);
  }
  else{
  servohori.write(servoh);
  }
  delay(50);
Serial.print("LDR topl=");
Serial.println(topl);
Serial.print("LDR topr=");
Serial.println(topr);
Serial.print("LDR botl=");
Serial.println(botl);
Serial.print("LDR botr=");
Serial.println(botr);
  onoffswitch = digitalRead(switch1Pin);
  singledualswitch = digitalRead(switch2Pin);
  }
/*DONE*/

  onoffswitch = digitalRead(switch1Pin);
  singledualswitch = digitalRead(switch2Pin);
delay(200);



LiquidCrystal_I2C lcd(I2C_ADDR, LCD_COLUMNS, LCD_LINES);



}