Internet of things (IoT)-based solar tracker

1/***************************************************************
2 PROJECT:  IoT based solar tracker system / the embedded software
3 Aboubakr El Hammoumi/  aboubakr.elhammoumi@usmba.ac.ma
4***************************************************************/
5
6#define  CAYENNE_PRINT Serial
7#include <CayenneMQTTEthernet.h>    //CayenneMQTT library  
8#include <Servo.h>                  //Servo motor library 
9#include <DHT.h>                    //DHT library 
10#define DHTTYPE DHT22
11#define DHTPIN 2
12DHT  dht(DHTPIN,DHTTYPE);
13
14//MQTT credentials   
15char username[]="498d2d00-afe2-11ea-883c-638d8ce4c23d";
16char  password[]="ab4a8f92d94033c01f6e18ce1d8a84d8c304c9c4";
17char clientID[]="17798a40-b968-11ea-93bf-d33a96695544";
18
19Servo  servo_x;                   //up-down servomotor  
20int servoh = 0;
21int servohLimitHigh  = 170;     
22int servohLimitLow = 10;       
23
24Servo servo_z;                   //left-right  servomotor 
25int servov = 0; 
26int servovLimitHigh = 170;
27int servovLimitLow  = 10;
28
29int topl,topr,botl,botr;
30int threshold_value=10;        
31float  Vout;
32
33void setup()
34{ Serial.begin(9600);
35  Cayenne.begin(username,  password, clientID);
36  servo_x.attach(5);
37  servo_z.attach(6);
38  dht.begin();
39  pinMode(3,OUTPUT);
40  digitalWrite(3,LOW); 
41}
42
43void loop()
44{ topr=  analogRead(A2);       
45  topl= analogRead(A3);         
46  botl= analogRead(A4);         
47  botr= analogRead(A5);        
48  Vout=(analogRead(A1) * 5.0) /  1023;
49  Serial.println(" Manual-mode");
50  Cayenne.loop();
51  
52  if  (digitalRead(3)==HIGH){
53    Serial.println(" Automatic-mode");
54    servoh  = servo_x.read();
55    servov = servo_z.read();
56    int avgtop = (topr + topl)  / 2;     
57    int avgbot = (botr + botl) / 2;   
58    int avgright = (topr  + botr) / 2;   
59    int avgleft = (topl + botl) / 2;    
60    int diffhori=  avgtop - avgbot;      
61    int diffverti= avgleft - avgright;    
62    
63    /*tracking according to horizontal axis*/ 
64    if (abs(diffhori) <= threshold_value)
65    {
66     servo_x.write(servoh);            //stop the servo up-down
67    }else  {
68       if (diffhori > threshold_value)
69          { Serial.println(" x -  2 ");
70          servo_x.write(servoh -2);    //Clockwise rotation CW
71          if  (servoh > servohLimitHigh)
72          {
73           servoh = servohLimitHigh;
74          }
75          delay(10);
76          }else {
77           servo_x.write(servoh  +2);   //CCW
78           if (servoh < servohLimitLow)
79           {
80           servoh  = servohLimitLow;
81           }
82           delay(10);
83           }
84      }      
85    /*tracking according to vertical axis*/ 
86    if (abs(diffverti)  <= threshold_value)
87    {     
88     servo_z.write(servov);       //stop the  servo left-right
89    }else{
90       if (diffverti > threshold_value)
91       {  
92       servo_z.write(servov -2);  //CW
93       if (servov > servovLimitHigh)  
94       { 
95       servov = servovLimitHigh;
96       }
97       delay(10);
98       }else{ 
99        servo_z.write(servov +2);  //CCW
100        if (servov  < servovLimitLow) 
101        {
102        servov = servovLimitLow;
103        }
104        delay(10);
105        }
106     }
107  }
108}
109// Cayenne Functions
110CAYENNE_IN(8){
111  int value = getValue.asInt();
112  CAYENNE_LOG("Channel %d, pin %d, value %d",  8, 3, value);
113  digitalWrite(3,value);
114}
115CAYENNE_IN(7){ //up-down servo  motor
116  if (digitalRead(3)==HIGH){ //Automatic_mode
117  }
118  else{ //Manual_mode
119  servo_x.write(getValue.asDouble() * 180);
120  }
121}
122CAYENNE_IN(6){ //left-right  servo motor
123  if (digitalRead(3)==HIGH){
124  }  
125  else{
126  servo_z.write(getValue.asDouble()  * 180);
127  }
128}
129
130CAYENNE_OUT(0) { //Current
131  float current = Vout/10;
132  Cayenne.virtualWrite(0, current);
133  Serial.print("Current: ");
134  Serial.println(current);
135}
136CAYENNE_OUT(1)  { //Voltage
137  float voltage = Vout * 2;
138  Cayenne.virtualWrite(1, voltage);
139  Serial.print("Voltage: ");
140  Serial.println(voltage);
141}
142CAYENNE_OUT(2){  //LDR Top-right
143  Cayenne.virtualWrite(2, topr);
144}
145CAYENNE_OUT(3){ //LDR  Top-left
146  Cayenne.virtualWrite(3,topl);
147}
148CAYENNE_OUT(4){ //LDR Bot-left
149  Cayenne.virtualWrite(4,botl);
150}
151CAYENNE_OUT(5){ //LDR Bot-right
152  Cayenne.virtualWrite(5,botr);
153}
154CAYENNE_OUT(10)  { //Power
155  float power = (Vout * 2 * Vout)/10 ;
156  Cayenne.virtualWrite(10,  power);
157  Serial.print("Power: ");
158  Serial.println(power);
159}
160CAYENNE_OUT(11){  //Temperature
161  float t = dht.readTemperature();
162  //int chk = dht.read(DHT11PIN);
163  Cayenne.virtualWrite(11, t, TYPE_TEMPERATURE, UNIT_CELSIUS);
164  Serial.print("temperature:  ");
165  Serial.println(t);
166}
167CAYENNE_OUT(12){ //Huidity
168  float h = dht.readHumidity();
169  //int chk = dht.read(DHT11PIN);
170  Cayenne.virtualWrite(12, h);
171  Serial.print("  humidity: ");
172  Serial.println(h);
173}
174
175