DIY solar tracker

1int topleft;
2int topright;
3int downleft;
4int downright;
5int  waittime = 1;
6
7void setup() {
8  pinMode(9, OUTPUT);
9  pinMode(10, OUTPUT);
10  pinMode(6,OUTPUT);
11  TCCR1A = 0;
12  TCCR1A = (1 << COM1A1) | (1 << COM1B1)  | (1 << WGM11);
13  TCCR1B = 0;
14  TCCR1B = (1 << WGM13) | (1 << WGM12) | (1  << CS11);
15  ICR1 = 40000;
16  OCR1A = 3000;
17  OCR1B = 3600;
18}
19
20void  loop() {
21  digitalWrite(6,HIGH);
22  delay(30);       
23  digitalWrite(6,LOW);
24  delay(1000);
25  topleft = analogRead(A0);
26  topright = analogRead(A1);
27  downleft = analogRead(A2);
28  downright = analogRead(A3);
29
30  if (topleft  > topright) {
31    OCR1A = OCR1A + 1;
32    delay(waittime);
33  }
34  if (downleft  > downright) {
35    OCR1A = OCR1A + 1;
36    delay(waittime);
37  }
38  if  (topleft < topright) {
39    OCR1A = OCR1A - 1;
40    delay(waittime);
41  }
42  if (downleft < downright) {
43    OCR1A = OCR1A - 1;
44    delay(waittime);
45  }
46  if (OCR1A > 4000) {
47    OCR1A = 4000;
48  }
49  if (OCR1A < 2000)  {
50    OCR1A = 2000;
51  }
52  if (topleft > downleft) {
53    OCR1B = OCR1B  - 1;
54    delay(waittime);
55  }
56  if (topright > downright) {
57    OCR1B  = OCR1B - 1;
58    delay(waittime);
59  }
60  if (topleft < downleft) {
61    OCR1B  = OCR1B + 1;
62    delay(waittime);
63  }
64  if (topright < downright) {
65    OCR1B = OCR1B + 1;
66    delay(waittime);
67  }
68  if (OCR1B > 4200) {
69    OCR1B = 4200;
70  }
71  if (OCR1B < 3000) {
72    OCR1B = 3000;
73  }
74}