Sun Tracker Solar Panel - Circuit Diagram | Dual Axis Without Arduino | Harish Projects

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 Circuit Components List  1. TDA2822 IC 2x 2. 10k ohm Resistor 4x 3. 5mm LDR 4x 4. N20 Gear Motor 2x 5. N20 Wheel 6. Solar Panel  7. Zero PCB 8. Sunboard  9. 3.7v Small Battery  10. Charging Module 11. Tip Top Button Ordre all components from Here  Click here 👉  https://harishprojects.com/   …….. Circuit Diagram……….. ……….Watch full Detailed video………
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How to make Joystick Control Robot With servo Motor | Best Arduino Project / Harish Projects

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 Full video link - https://youtu.be/YTpgQ6iNrPo


//Arduino code//

#include <Servo.h>


bool repeatePlaying = false; /* Repeatedly is running recorded cycle */

int delayBetweenCycles = 2000; /* Delay between cycles */


int basePin = 11;       /* Base servo */

int shoulderPin = 10;   /* Shoulder servo */

int elbowPin = 9;       /* Elbow servo */

int gripperPin = 6;     /* Gripper servo */


int xdirPin = 0;        /* Base - joystick1*/

int ydirPin = 1;        /* Shoulder - joystick1 */

int zdirPin = 3;        /* Elbow - joystick2 */

int gdirPin = 2;        /* Gripper - joystick2 */


//int pinRecord = A4;     /* Button record - backward compatibility */

//int pinPlay = A5;       /* Button play  - backward compatibility */

int pinRecord = PD2;     /* Button record - recommended (A4 is deprecated, will by used for additional joystick) */

int pinPlay = PD3;       /* Button play  - recommended (A5 is deprecated, will by used for additional joystick) */

int pinLedRecord = PD4;  /* LED - indicates recording (light) or auto play mode (blink one) */


bool useInternalPullUpResistors = false;


const int buffSize = 512; /* Size of recording buffer */


int startBase = 90;

int startShoulder = 90;

int startElbow = 90;

int startGripper = 0;


int posBase = 90;

int posShoulder = 90;

int posElbow = 90;

int posGripper = 0;


int lastBase = 90;

int lastShoulder = 90;

int lastElbow = 90;

int lastGripper = 90;


int minBase = 0;

int maxBase = 150;

int minShoulder = 0;

int maxShoulder = 150;

int minElbow = 0;

int maxElbow = 150;

int minGripper = 0;

int maxGripper = 150;


const int countServo = 4;

int buff[buffSize];

int buffAdd[countServo];

int recPos = 0;

int playPos = 0;


int buttonRecord = HIGH;

int buttonPlay = HIGH;


int buttonRecordLast = LOW;

int buttonPlayLast = LOW;


bool record = false;

bool play = false;

bool debug = false;


String command = "Manual";

int printPos = 0;


int buttonPlayDelay = 20;

int buttonPlayCount = 0;


bool ledLight = false;


Servo servoBase;

Servo servoShoulder;

Servo servoElbow;

Servo servoGripper;


void setup() {

  Serial.begin(9600);


  if (useInternalPullUpResistors) {

    pinMode(pinRecord, INPUT_PULLUP);

    pinMode(pinPlay, INPUT_PULLUP);

  }

  else

  {

    pinMode(pinRecord, INPUT);

    pinMode(pinPlay, INPUT);

  }


  pinMode(xdirPin, INPUT);

  pinMode(ydirPin, INPUT);

  pinMode(zdirPin, INPUT);

  pinMode(gdirPin, INPUT);


  pinMode(pinLedRecord, OUTPUT);


  servoBase.attach(basePin);

  servoShoulder.attach(shoulderPin);

  servoElbow.attach(elbowPin);

  servoGripper.attach(gripperPin);


  StartPosition();


  digitalWrite(pinLedRecord, HIGH);

  delay(1000);

  digitalWrite(pinLedRecord, LOW);

}


void loop() {


  buttonRecord = digitalRead(pinRecord);

  buttonPlay = digitalRead(pinPlay);


  //  Serial.print(buttonRecord);

  //  Serial.print("\t");

  //  Serial.println(buttonPlay);

  //  for testing purposes


  if (buttonPlay == LOW)

  {

    buttonPlayCount++;


    if (buttonPlayCount >= buttonPlayDelay)

    {

      repeatePlaying = true;

    }

  }

  else buttonPlayCount = 0;


  if (buttonPlay != buttonPlayLast)

  {

    if (record)

    {

      record = false;

    }


    if (buttonPlay == LOW)

    {

      play = !play;

      repeatePlaying = false;


      if (play)

      {

        StartPosition();

      }

    }

  }


  if (buttonRecord != buttonRecordLast)

  {

    if (buttonRecord == LOW)

    {

      record = !record;


      if (record)

      {

        play = false;

        repeatePlaying = false;

        recPos = 0;

      }

      else

      {

        if (debug) PrintBuffer();

      }

    }

  }


  buttonPlayLast = buttonPlay;

  buttonRecordLast = buttonRecord;


  float dx = map(analogRead(xdirPin), 0, 1023, -5.0, 5.0);

  float dy = map(analogRead(ydirPin), 0, 1023, 5.0, -5.0);

  float dz = map(analogRead(zdirPin), 0, 1023, 5.0, -5.0);

  float dg = map(analogRead(gdirPin), 0, 1023, 5.0, -5.0);


  if (abs(dx) < 1.5) dx = 0;

  if (abs(dy) < 1.5) dy = 0;

  if (abs(dz) < 1.5) dz = 0;

  if (abs(dg) < 1.5) dg = 0;


  posBase += dx;

  posShoulder += dy;

  posElbow += dz;

  posGripper += dg;


  if (play)

  {

    if (playPos >= recPos) {

      playPos = 0;


      if (repeatePlaying)

      {

        delay(delayBetweenCycles);

        StartPosition();

      }

      else

      {

        play = false;

      }

    }


    bool endOfData = false;


    while (!endOfData)

    {

      if (playPos >= buffSize - 1) break;

      if (playPos >= recPos) break;


      int data = buff[playPos];

      int angle = data & 0xFFF;

      int servoNumber = data & 0x3000;

      endOfData = data & 0x4000;


      switch (servoNumber)

      {

        case 0x0000:

          posBase = angle;

          break;


        case 0x1000:

          posShoulder = angle;

          break;


        case 0x2000:

          posElbow = angle;

          break;


        case 0x3000:

          posGripper = angle;

          dg = posGripper - lastGripper;

          break;

      }


      playPos++;

    }

  }


  if (posBase > maxBase) posBase = maxBase;

  if (posShoulder > maxShoulder) posShoulder = maxShoulder;

  if (posElbow > maxElbow) posElbow = maxElbow;

  if (posGripper > maxGripper) posGripper = maxGripper;


  if (posBase < minBase) posBase = minBase;

  if (posShoulder < minShoulder) posShoulder = minShoulder;

  if (posElbow < minElbow) posElbow = minElbow;

  if (posGripper < minGripper) posGripper = minGripper;


  servoBase.write(posBase);

  servoShoulder.write(posShoulder);

  servoElbow.write(posElbow);


  bool waitGripper = false;

  if (dg < 0) {

    posGripper = minGripper;

    waitGripper = true;

  }

  else if (dg > 0) {

    posGripper = maxGripper;

    waitGripper = true;

  }


  servoGripper.write(posGripper);

  if (play && waitGripper)

  {

    delay(1000);

  }


  if ((lastBase != posBase) | (lastShoulder != posShoulder) | (lastElbow != posElbow) | (lastGripper != posGripper))

  {

    if (record)

    {

      if (recPos < buffSize - countServo)

      {

        int buffPos = 0;


        if (lastBase != posBase)

        {

          buffAdd[buffPos] = posBase;

          buffPos++;

        }


        if (lastShoulder != posShoulder)

        {

          buffAdd[buffPos] = posShoulder | 0x1000;

          buffPos++;

        }


        if (lastElbow != posElbow)

        {

          buffAdd[buffPos] = posElbow | 0x2000;

          buffPos++;

        }


        if (lastGripper != posGripper)

        {

          buffAdd[buffPos] = posGripper | 0x3000;

          buffPos++;

        }


        buffAdd[buffPos - 1] = buffAdd[buffPos - 1] | 0x4000;


        for (int i = 0; i < buffPos; i++)

        {

          buff[recPos + i] = buffAdd[i];

        }


        recPos += buffPos;

      }

    }


    command = "Manual";

    printPos = 0;


    if (play)

    {

      command = "Play";

      printPos = playPos;

    }

    else if (record)

    {

      command = "Record";

      printPos = recPos;

    }


    Serial.print(command);

    Serial.print("\t");

    Serial.print(printPos);

    Serial.print("\t");

    Serial.print(posBase);

    Serial.print("\t");

    Serial.print(posShoulder);

    Serial.print("\t");

    Serial.print(posElbow);

    Serial.print("\t");

    Serial.print(posGripper);

    Serial.print("\t");

    Serial.print(record);

    Serial.print("\t");

    Serial.print(play);

    Serial.println();

  }


  lastBase = posBase;

  lastShoulder = posShoulder;

  lastElbow = posElbow;

  lastGripper = posGripper;


  if ( repeatePlaying)

  {

    ledLight = !ledLight;

  }

  else

  {

    if (ledLight)

    {

      ledLight = false;

    }


    if (record)

    {

      ledLight = true;

    }

  };


  digitalWrite(pinLedRecord, ledLight);

  delay(50);

}


void PrintBuffer()

{

  for (int i = 0; i < recPos; i++)

  {

    int data = buff[i];

    int angle = data & 0xFFF;

    int servoNumber = data & 0x3000;

    bool endOfData = data & 0x4000;


    Serial.print("Servo=");

    Serial.print(servoNumber);

    Serial.print("\tAngle=");

    Serial.print(angle);

    Serial.print("\tEnd=");

    Serial.print(endOfData);

    Serial.print("\tData=");

    Serial.print(data, BIN);

    Serial.println();

  }

}


void StartPosition()

{

  int angleBase = servoBase.read();

  int angleShoulder = servoShoulder.read();

  int angleElbow = servoElbow.read();

  int angleGripper = servoGripper.read();


  Serial.print(angleBase);

  Serial.print("\t");

  Serial.print(angleShoulder);

  Serial.print("\t");

  Serial.print(angleElbow);

  Serial.print("\t");

  Serial.print(angleGripper);

  Serial.println("\t");


  posBase = startBase;

  posShoulder = startShoulder;

  posElbow = startElbow;

  posGripper = startGripper;


  servoBase.write(posBase);

  servoShoulder.write(posShoulder);

  servoElbow.write(posElbow);

  servoGripper.write(posGripper);

}


//Project Diagram//




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