Solar Tracker 35W with DC Motors

Solar tracking photovoltaic (dual axis) that follows the sun, using LDR sensors and two DC motors.

Aug 7, 2019

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66 respects

solar

tracking

energy

Components and supplies

Arduino UNO

LM2596

Resistor 10k ohm

Geared DC Motor, 12 V

Photovoltaic 35W

SparkFun Solder-able Breadboard

LDR, 1 Mohm

Industrial Pushbutton Switch, Push-Pull

Resistor 1k ohm

Slide Switch

Dual H-Bridge motor drivers L298

Tools and machines

Soldering iron (generic)

Solder Wire, Lead Free

Apps and platforms

Arduino IDE

Project description

Code

Solar Tracker

arduino

Arduino Code. NOTE: The names of the ldrs in the code do not correspond with their place in the breadboard!

1/* Solar Tracker Code with 4 buttons for manual orientation and
2  4  ldr sensors to automaticaly traking the sun.
3
4*/
5//set constant pin numbers
6int  wbuttonPin = 4;
7int ebuttonPin = 2;
8int tbuttonPin = 8;
9int bbuttonPin  = 12;
10int switch1Pin = 7;
11int switch2Pin = 5;
12int eldr = A0;
13int wldr  = A1;
14int tldr = A2;
15int bldr = A3;
16int IN1 = 13;
17int IN2 = 9;
18int  IN3 = 10;
19int IN4 = 11;
20int eastldr = 0;
21int westldr = 0;
22int topldr  = 0;
23int botldr = 0;
24int error = 0;
25int poserror = 0;
26int tberror =  0;
27int tbposerror = 0;
28int westbutton = 0;
29int eastbutton = 0;
30int topbutton  = 0;
31int botbutton = 0;
32int onoffswitch = 0;
33int singledualswitch = 0;
34void  setup() {
35  pinMode (A0, INPUT);
36  pinMode (A1, INPUT);
37  pinMode (A3,  INPUT);
38  pinMode (A4, INPUT);
39  pinMode (8, INPUT_PULLUP);
40  pinMode (12,  INPUT_PULLUP);
41  pinMode (13, OUTPUT);
42  pinMode (9, OUTPUT);
43  pinMode  (10, OUTPUT);
44  pinMode (11, OUTPUT);
45  pinMode (4, INPUT_PULLUP);
46  pinMode  (2, INPUT_PULLUP);
47  pinMode (5, INPUT_PULLUP);
48  pinMode (7, INPUT_PULLUP);
49  Serial.begin(9600);
50}
51
52void loop() {Serial.print("start programm");
53  digitalWrite(IN1, LOW);
54  digitalWrite(IN2, LOW);
55  digitalWrite(IN3, LOW);
56  digitalWrite(IN4, LOW);
57  onoffswitch = digitalRead(switch1Pin);
58  singledualswitch  = digitalRead(switch2Pin);
59  while  (onoffswitch == LOW  ) {
60    //manual  rotating of the panel
61
62    eastldr = analogRead(A0);
63          westldr  = analogRead(A1);
64          topldr = analogRead(A2);
65         botldr = analogRead(A3);
66    
67    eastbutton = digitalRead(ebuttonPin);
68                 if (eastbutton  == HIGH)
69  { digitalWrite(IN1, HIGH);
70    digitalWrite(IN2, LOW);
71    }  // rotate to east side when you push the right button
72    else {
73      digitalWrite(IN1,  LOW);
74    }
75    westbutton = digitalRead(wbuttonPin);
76                 if  (westbutton == HIGH)
77  { digitalWrite(IN2, HIGH);
78    } //rotate to west side  when you push the left button
79    else {
80      digitalWrite(IN2, LOW);
81    }
82    topbutton = digitalRead(tbuttonPin);
83                if (topbutton  == HIGH)
84  { digitalWrite(IN4, HIGH);
85    } //rotate to west side when you  push the left button
86    else {
87      digitalWrite(IN4, LOW);
88    }
89    
90    botbutton = digitalRead(bbuttonPin);
91              if (botbutton  == HIGH)
92{ digitalWrite(IN3, HIGH);
93  } //rotate to west side when you push  the left button
94  else {
95    digitalWrite(IN3, LOW);
96  } onoffswitch =  digitalRead(switch1Pin);
97    singledualswitch = digitalRead(switch2Pin);
98    Serial.println(eastldr);
99Serial.println(westldr);
100Serial.println(topldr);
101Serial.println(botldr);
102}
103   
104//automaticaly rotating of the panel
105//check east-west orientation first
106
107
108                                      /* if (eastldr < 400 && westldr < 400)
109                                         {digitalWrite(IN1,HIGH)
110                                         delay(7500)
111                                         digitalWrite(IN1,LOW)}*/
112onoffswitch  = digitalRead(switch1Pin);
113singledualswitch = digitalRead(switch2Pin);
114while  (onoffswitch == HIGH && singledualswitch == LOW ){
115  eastldr = analogRead(A0);
116          westldr = analogRead(A1);
117          topldr = analogRead(A2);
118         botldr  = analogRead(A3);
119                    error = (((eastldr+topldr)/2) - ((westldr+botldr)/2));
120                            poserror = abs(error);
121                                     if  (poserror > 10){
122 if (error > 0) {
123   digitalWrite(IN2, HIGH);
124
125//  Serial.print("IN2  HIGH");
126  }
127  else if (error < 0)    {
128   digitalWrite(IN1, HIGH);
129//Serial.print("IN1  HIGH");
130  }}
131  else if (poserror <= 10 )  {
132    digitalWrite(IN1, LOW);
133    digitalWrite(IN2, LOW);
134//Serial.print("LOW BOTH");
135    }
136
137Serial.println(eastldr);
138Serial.println(westldr);
139Serial.println(topldr);
140Serial.println(botldr);
141
142onoffswitch  = digitalRead(switch1Pin);
143singledualswitch = digitalRead(switch2Pin);}
144
145onoffswitch  = digitalRead(switch1Pin);
146singledualswitch = digitalRead(switch2Pin);
147
148
149
150  while  (onoffswitch == HIGH & singledualswitch == HIGH ){
151         topldr =  analogRead(A2);
152         botldr = analogRead(A3);
153         eastldr = analogRead(A0);
154         westldr = analogRead(A1);
155                 
156                  
157                  tberror = (((topldr+westldr)/2) - ((botldr+eastldr)/2));
158                            tbposerror  = abs(tberror);
159    
160 
161                   error = (((eastldr+topldr)/2)  - ((westldr+botldr)/2));
162                            poserror = abs(error);
163                                     if (poserror > 10){
164 if (error > 0) {
165   digitalWrite(IN2, HIGH);
166
167//  Serial.print("IN2 HIGH");
168  }
169  else  if (error < 0)    {
170   digitalWrite(IN1, HIGH);
171
172//Serial.print("IN1 HIGH");
173  }}
174  else if (poserror <= 10 )  {
175    digitalWrite(IN1, LOW);
176    digitalWrite(IN2,  LOW);
177    }
178
179Serial.println(eastldr);
180Serial.println(westldr);
181   if  (tbposerror > 10)
182{ if (tberror > 0) {
183    digitalWrite(IN4, HIGH);
184
185}    else if (tberror < 0)    {
186      digitalWrite(IN3, HIGH);
187
188    }
189  }
190  else if (poserror <= 10 )  {
191    digitalWrite(IN4, LOW);
192    digitalWrite(IN3,  LOW);
193  }
194  onoffswitch = digitalRead(switch1Pin);
195singledualswitch = digitalRead(switch2Pin);}
196onoffswitch  = digitalRead(switch1Pin);
197singledualswitch = digitalRead(switch2Pin);
198  delay(200);
199
200}

/* Solar Tracker Code with 4 buttons for manual orientation and
  4  ldr sensors to automaticaly traking the sun.

*/
//set constant pin numbers
int  wbuttonPin = 4;
int ebuttonPin = 2;
int tbuttonPin = 8;
int bbuttonPin  = 12;
int switch1Pin = 7;
int switch2Pin = 5;
int eldr = A0;
int wldr  = A1;
int tldr = A2;
int bldr = A3;
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() {
  pinMode (A0, INPUT);
  pinMode (A1, INPUT);
  pinMode (A3,  INPUT);
  pinMode (A4, INPUT);
  pinMode (8, INPUT_PULLUP);
  pinMode (12,  INPUT_PULLUP);
  pinMode (13, OUTPUT);
  pinMode (9, OUTPUT);
  pinMode  (10, OUTPUT);
  pinMode (11, 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 programm");
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, LOW);
  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)
  { digitalWrite(IN1, HIGH);
    digitalWrite(IN2, LOW);
    }  // rotate to east side when you push the right button
    else {
      digitalWrite(IN1,  LOW);
    }
    westbutton = digitalRead(wbuttonPin);
                 if  (westbutton == HIGH)
  { digitalWrite(IN2, HIGH);
    } //rotate to west side  when you push the left button
    else {
      digitalWrite(IN2, LOW);
    }
    topbutton = digitalRead(tbuttonPin);
                if (topbutton  == HIGH)
  { digitalWrite(IN4, HIGH);
    } //rotate to west side when you  push the left button
    else {
      digitalWrite(IN4, LOW);
    }
    
    botbutton = digitalRead(bbuttonPin);
              if (botbutton  == HIGH)
{ digitalWrite(IN3, HIGH);
  } //rotate to west side when you push  the left button
  else {
    digitalWrite(IN3, LOW);
  } onoffswitch =  digitalRead(switch1Pin);
    singledualswitch = digitalRead(switch2Pin);
    Serial.println(eastldr);
Serial.println(westldr);
Serial.println(topldr);
Serial.println(botldr);
}
   
//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 ){
  eastldr = analogRead(A0);
          westldr = analogRead(A1);
          topldr = analogRead(A2);
         botldr  = analogRead(A3);
                    error = (((eastldr+topldr)/2) - ((westldr+botldr)/2));
                            poserror = abs(error);
                                     if  (poserror > 10){
 if (error > 0) {
   digitalWrite(IN2, HIGH);

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

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

onoffswitch  = digitalRead(switch1Pin);
singledualswitch = digitalRead(switch2Pin);}

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



  while  (onoffswitch == HIGH & singledualswitch == HIGH ){
         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) {
   digitalWrite(IN2, HIGH);

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

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

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

}    else if (tberror < 0)    {
      digitalWrite(IN3, HIGH);

    }
  }
  else if (poserror <= 10 )  {
    digitalWrite(IN4, LOW);
    digitalWrite(IN3,  LOW);
  }
  onoffswitch = digitalRead(switch1Pin);
singledualswitch = digitalRead(switch2Pin);}
onoffswitch  = digitalRead(switch1Pin);
singledualswitch = digitalRead(switch2Pin);
  delay(200);

}

Solar Tracker

arduino

Arduino Code. NOTE: The names of the ldrs in the code do not correspond with their place in the breadboard!

1/* Solar Tracker Code with 4 buttons for manual orientation and
2  4
3  ldr sensors to automaticaly traking the sun.
4
5*/
6//set constant pin numbers
7int
8  wbuttonPin = 4;
9int ebuttonPin = 2;
10int tbuttonPin = 8;
11int bbuttonPin
12  = 12;
13int switch1Pin = 7;
14int switch2Pin = 5;
15int eldr = A0;
16int wldr
17  = A1;
18int tldr = A2;
19int bldr = A3;
20int IN1 = 13;
21int IN2 = 9;
22int
23  IN3 = 10;
24int IN4 = 11;
25int eastldr = 0;
26int westldr = 0;
27int topldr
28  = 0;
29int botldr = 0;
30int error = 0;
31int poserror = 0;
32int tberror =
33  0;
34int tbposerror = 0;
35int westbutton = 0;
36int eastbutton = 0;
37int topbutton
38  = 0;
39int botbutton = 0;
40int onoffswitch = 0;
41int singledualswitch = 0;
42void
43  setup() {
44  pinMode (A0, INPUT);
45  pinMode (A1, INPUT);
46  pinMode (A3,
47  INPUT);
48  pinMode (A4, INPUT);
49  pinMode (8, INPUT_PULLUP);
50  pinMode (12,
51  INPUT_PULLUP);
52  pinMode (13, OUTPUT);
53  pinMode (9, OUTPUT);
54  pinMode
55  (10, OUTPUT);
56  pinMode (11, OUTPUT);
57  pinMode (4, INPUT_PULLUP);
58  pinMode
59  (2, INPUT_PULLUP);
60  pinMode (5, INPUT_PULLUP);
61  pinMode (7, INPUT_PULLUP);
62
63  Serial.begin(9600);
64}
65
66void loop() {Serial.print("start programm");
67
68  digitalWrite(IN1, LOW);
69  digitalWrite(IN2, LOW);
70  digitalWrite(IN3, LOW);
71
72  digitalWrite(IN4, LOW);
73  onoffswitch = digitalRead(switch1Pin);
74  singledualswitch
75  = digitalRead(switch2Pin);
76  while  (onoffswitch == LOW  ) {
77    //manual
78  rotating of the panel
79
80    eastldr = analogRead(A0);
81          westldr
82  = analogRead(A1);
83          topldr = analogRead(A2);
84         botldr = analogRead(A3);
85
86    
87    eastbutton = digitalRead(ebuttonPin);
88                 if (eastbutton
89  == HIGH)
90  { digitalWrite(IN1, HIGH);
91    digitalWrite(IN2, LOW);
92    }
93  // rotate to east side when you push the right button
94    else {
95      digitalWrite(IN1,
96  LOW);
97    }
98    westbutton = digitalRead(wbuttonPin);
99                 if
100  (westbutton == HIGH)
101  { digitalWrite(IN2, HIGH);
102    } //rotate to west side
103  when you push the left button
104    else {
105      digitalWrite(IN2, LOW);
106
107    }
108    topbutton = digitalRead(tbuttonPin);
109                if (topbutton
110  == HIGH)
111  { digitalWrite(IN4, HIGH);
112    } //rotate to west side when you
113  push the left button
114    else {
115      digitalWrite(IN4, LOW);
116    }
117
118    
119    botbutton = digitalRead(bbuttonPin);
120              if (botbutton
121  == HIGH)
122{ digitalWrite(IN3, HIGH);
123  } //rotate to west side when you push
124  the left button
125  else {
126    digitalWrite(IN3, LOW);
127  } onoffswitch =
128  digitalRead(switch1Pin);
129    singledualswitch = digitalRead(switch2Pin);
130
131    Serial.println(eastldr);
132Serial.println(westldr);
133Serial.println(topldr);
134Serial.println(botldr);
135}
136
137   
138//automaticaly rotating of the panel
139//check east-west orientation first
140
141
142
143                                      /* if (eastldr < 400 && westldr < 400)
144
145                                         {digitalWrite(IN1,HIGH)
146                                         delay(7500)
147
148                                         digitalWrite(IN1,LOW)}*/
149onoffswitch
150  = digitalRead(switch1Pin);
151singledualswitch = digitalRead(switch2Pin);
152while
153  (onoffswitch == HIGH && singledualswitch == LOW ){
154  eastldr = analogRead(A0);
155
156          westldr = analogRead(A1);
157          topldr = analogRead(A2);
158         botldr
159  = analogRead(A3);
160                    error = (((eastldr+topldr)/2) - ((westldr+botldr)/2));
161
162                            poserror = abs(error);
163                                     if
164  (poserror > 10){
165 if (error > 0) {
166   digitalWrite(IN2, HIGH);
167
168//  Serial.print("IN2
169  HIGH");
170  }
171  else if (error < 0)    {
172   digitalWrite(IN1, HIGH);
173//Serial.print("IN1
174  HIGH");
175  }}
176  else if (poserror <= 10 )  {
177    digitalWrite(IN1, LOW);
178
179    digitalWrite(IN2, LOW);
180//Serial.print("LOW BOTH");
181    }
182
183Serial.println(eastldr);
184Serial.println(westldr);
185Serial.println(topldr);
186Serial.println(botldr);
187
188onoffswitch
189  = digitalRead(switch1Pin);
190singledualswitch = digitalRead(switch2Pin);}
191
192onoffswitch
193  = digitalRead(switch1Pin);
194singledualswitch = digitalRead(switch2Pin);
195
196
197
198
199  while  (onoffswitch == HIGH & singledualswitch == HIGH ){
200         topldr =
201  analogRead(A2);
202         botldr = analogRead(A3);
203         eastldr = analogRead(A0);
204
205         westldr = analogRead(A1);
206                 
207                  
208
209                  tberror = (((topldr+westldr)/2) - ((botldr+eastldr)/2));
210                            tbposerror
211  = abs(tberror);
212    
213 
214                   error = (((eastldr+topldr)/2)
215  - ((westldr+botldr)/2));
216                            poserror = abs(error);
217
218                                     if (poserror > 10){
219 if (error > 0) {
220
221   digitalWrite(IN2, HIGH);
222
223//  Serial.print("IN2 HIGH");
224  }
225  else
226  if (error < 0)    {
227   digitalWrite(IN1, HIGH);
228
229//Serial.print("IN1 HIGH");
230
231  }}
232  else if (poserror <= 10 )  {
233    digitalWrite(IN1, LOW);
234    digitalWrite(IN2,
235  LOW);
236    }
237
238Serial.println(eastldr);
239Serial.println(westldr);
240   if
241  (tbposerror > 10)
242{ if (tberror > 0) {
243    digitalWrite(IN4, HIGH);
244
245}
246    else if (tberror < 0)    {
247      digitalWrite(IN3, HIGH);
248
249    }
250
251  }
252  else if (poserror <= 10 )  {
253    digitalWrite(IN4, LOW);
254    digitalWrite(IN3,
255  LOW);
256  }
257  onoffswitch = digitalRead(switch1Pin);
258singledualswitch = digitalRead(switch2Pin);}
259onoffswitch
260  = digitalRead(switch1Pin);
261singledualswitch = digitalRead(switch2Pin);
262  delay(200);
263
264}

/* Solar Tracker Code with 4 buttons for manual orientation and
  4
  ldr sensors to automaticaly traking the sun.

*/
//set constant pin numbers
int
  wbuttonPin = 4;
int ebuttonPin = 2;
int tbuttonPin = 8;
int bbuttonPin
  = 12;
int switch1Pin = 7;
int switch2Pin = 5;
int eldr = A0;
int wldr
  = A1;
int tldr = A2;
int bldr = A3;
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() {
  pinMode (A0, INPUT);
  pinMode (A1, INPUT);
  pinMode (A3,
  INPUT);
  pinMode (A4, INPUT);
  pinMode (8, INPUT_PULLUP);
  pinMode (12,
  INPUT_PULLUP);
  pinMode (13, OUTPUT);
  pinMode (9, OUTPUT);
  pinMode
  (10, OUTPUT);
  pinMode (11, 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 programm");

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

  digitalWrite(IN4, LOW);
  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)
  { digitalWrite(IN1, HIGH);
    digitalWrite(IN2, LOW);
    }
  // rotate to east side when you push the right button
    else {
      digitalWrite(IN1,
  LOW);
    }
    westbutton = digitalRead(wbuttonPin);
                 if
  (westbutton == HIGH)
  { digitalWrite(IN2, HIGH);
    } //rotate to west side
  when you push the left button
    else {
      digitalWrite(IN2, LOW);

    }
    topbutton = digitalRead(tbuttonPin);
                if (topbutton
  == HIGH)
  { digitalWrite(IN4, HIGH);
    } //rotate to west side when you
  push the left button
    else {
      digitalWrite(IN4, LOW);
    }

    
    botbutton = digitalRead(bbuttonPin);
              if (botbutton
  == HIGH)
{ digitalWrite(IN3, HIGH);
  } //rotate to west side when you push
  the left button
  else {
    digitalWrite(IN3, LOW);
  } onoffswitch =
  digitalRead(switch1Pin);
    singledualswitch = digitalRead(switch2Pin);

    Serial.println(eastldr);
Serial.println(westldr);
Serial.println(topldr);
Serial.println(botldr);
}

   
//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 ){
  eastldr = analogRead(A0);

          westldr = analogRead(A1);
          topldr = analogRead(A2);
         botldr
  = analogRead(A3);
                    error = (((eastldr+topldr)/2) - ((westldr+botldr)/2));

                            poserror = abs(error);
                                     if
  (poserror > 10){
 if (error > 0) {
   digitalWrite(IN2, HIGH);

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

    digitalWrite(IN2, LOW);
//Serial.print("LOW BOTH");
    }

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

onoffswitch
  = digitalRead(switch1Pin);
singledualswitch = digitalRead(switch2Pin);}

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




  while  (onoffswitch == HIGH & singledualswitch == HIGH ){
         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) {

   digitalWrite(IN2, HIGH);

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

//Serial.print("IN1 HIGH");

  }}
  else if (poserror <= 10 )  {
    digitalWrite(IN1, LOW);
    digitalWrite(IN2,
  LOW);
    }

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

}
    else if (tberror < 0)    {
      digitalWrite(IN3, HIGH);

    }

  }
  else if (poserror <= 10 )  {
    digitalWrite(IN4, LOW);
    digitalWrite(IN3,
  LOW);
  }
  onoffswitch = digitalRead(switch1Pin);
singledualswitch = digitalRead(switch2Pin);}
onoffswitch
  = digitalRead(switch1Pin);
singledualswitch = digitalRead(switch2Pin);
  delay(200);

}

Downloadable files

Circuit

LM2596 and L298 shown in the picture Download the other schematic for more clear vision of Arduino pins

Circuit

You can use 1 breadboard instead of two. I just put second breadboard for the 4 LDRs above the Photovoltaic which is far from the first breadboard. Download this schematic for more clear vision of Arduino pins

Circuit

LM2596 and L298 shown in the picture Download the other schematic for more clear vision of Arduino pins

Circuit

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DemetrisEng

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