Solar irradiance comparison fixed vs. tracking

Compares solar irradiance performance between fixed system and a tracking system

Jul 4, 2022

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solar

energy efficiency

data collection

Components and supplies

Resistor 10k ohm

Breadboard (generic)

Arduino UNO

Stepper motor driver board A4988

Nema 17 Stepper Motor

Resistor 22.1 ohm

12V 2A Power Supply AC Adapter

MG995 servo motor

5.5V 80mA Solar Panel

Project description

Code

Stepper Motor test

arduino

1/*
2 *12V motor: A4988 - orientation
3*/
4
5#include <Arduino.h>
6
7#define  DIR_PIN   2 //direction
8#define STEP_PIN  3 //step
9
10const int stepPause  = 15; // micro seconds between step motor input pulses
11const float stepAngle  = 1.8;  //1.8deg/step
12float orientation = 180.;  // current orientation
13
14void  setup()
15{
16  //set pin modes
17  pinMode(DIR_PIN, OUTPUT);
18  pinMode(STEP_PIN,  OUTPUT);
19  
20  digitalWrite(DIR_PIN, LOW); //LOW = CW, HIGH = CCW
21  digitalWrite(STEP_PIN,  LOW);
22  
23  Serial.begin(9600);
24  Serial.println("Booting");
25}
26
27void  loop()
28{
29  Serial.print("Orientation: ");
30  Serial.println(orientation);
31
32  moveTo(90);
33  delay(1000);
34  Serial.print("Orientation: ");
35  Serial.println(orientation);
36
37  moveTo(135);
38  delay(1000);
39  Serial.print("Orientation: ");
40  Serial.println(orientation);
41
42  moveTo(180);
43  delay(1000);
44  Serial.print("Orientation: ");
45  Serial.println(orientation);
46
47  moveTo(225);
48  delay(1000);
49  Serial.print("Orientation: ");
50  Serial.println(orientation);
51
52  moveTo(270);
53  delay(1000);
54  Serial.print("Orientation: ");
55  Serial.println(orientation);
56
57  moveTo(180);
58  delay(1000);
59  Serial.print("Orientation: ");
60  Serial.println(orientation);
61}
62
63void  moveSteps(int steps)
64{
65  if (steps > 0)
66    digitalWrite(DIR_PIN, LOW);  //LOW or HIGH
67  else
68    digitalWrite(DIR_PIN, HIGH);
69    
70  for (int  i = 0; i < abs(steps); i++)
71  {
72    digitalWrite(STEP_PIN, HIGH);    
73    delay(stepPause);
74    digitalWrite(STEP_PIN, LOW);      
75    delay(stepPause);
76  }
77}
78
79void moveTo(float angle)
80{
81  int steps = round((angle - orientation)  / stepAngle);
82  orientation += steps * stepAngle;
83  moveSteps(steps);
84}
85

/*
 *12V motor: A4988 - orientation
*/

#include <Arduino.h>

#define  DIR_PIN   2 //direction
#define STEP_PIN  3 //step

const int stepPause  = 15; // micro seconds between step motor input pulses
const float stepAngle  = 1.8;  //1.8deg/step
float orientation = 180.;  // current orientation

void  setup()
{
  //set pin modes
  pinMode(DIR_PIN, OUTPUT);
  pinMode(STEP_PIN,  OUTPUT);
  
  digitalWrite(DIR_PIN, LOW); //LOW = CW, HIGH = CCW
  digitalWrite(STEP_PIN,  LOW);
  
  Serial.begin(9600);
  Serial.println("Booting");
}

void  loop()
{
  Serial.print("Orientation: ");
  Serial.println(orientation);

  moveTo(90);
  delay(1000);
  Serial.print("Orientation: ");
  Serial.println(orientation);

  moveTo(135);
  delay(1000);
  Serial.print("Orientation: ");
  Serial.println(orientation);

  moveTo(180);
  delay(1000);
  Serial.print("Orientation: ");
  Serial.println(orientation);

  moveTo(225);
  delay(1000);
  Serial.print("Orientation: ");
  Serial.println(orientation);

  moveTo(270);
  delay(1000);
  Serial.print("Orientation: ");
  Serial.println(orientation);

  moveTo(180);
  delay(1000);
  Serial.print("Orientation: ");
  Serial.println(orientation);
}

void  moveSteps(int steps)
{
  if (steps > 0)
    digitalWrite(DIR_PIN, LOW);  //LOW or HIGH
  else
    digitalWrite(DIR_PIN, HIGH);
    
  for (int  i = 0; i < abs(steps); i++)
  {
    digitalWrite(STEP_PIN, HIGH);    
    delay(stepPause);
    digitalWrite(STEP_PIN, LOW);      
    delay(stepPause);
  }
}

void moveTo(float angle)
{
  int steps = round((angle - orientation)  / stepAngle);
  orientation += steps * stepAngle;
  moveSteps(steps);
}

Main Test Program

arduino

1/*
2 *12V motor: A4988 - orientation
3 * MG995 Servo motor - tilt  angle
4 * 
5 * Solar panel terminals to Arduino:
6  analog in A0 -- panel  1 -- fixed
7  analog in A1 -- panel 2 -- tracking
8
9*/
10
11#include <Arduino.h>
12#include  <Servo.h> // include servo library
13
14#define DIR_PIN   2 //direction
15#define  STEP_PIN  3 //step
16#define MG995_IN 6 // Name Digital D6 pin of Arduinol
17
18Servo  mg995Servo;  // Initialize a servo object
19
20const int stepPause = 15; // micro  seconds between step motor input pulses
21const float stepAngle = 1.8;  //1.8deg/step
22float  orientation = 180.;  // current orientation
23int count = 0; // int to count loop  iteration
24
25int analogPin1 = A0;  //solar panel #1
26int analogPin2 = A1;  //solar panel #2
27                    
28float orient[] = {77.8, 79.9, 81.9,  84.0, 86.1, 88.2, 90.5, 92.8, 95.3, 98.0, 
29                  100.9, 104.0, 107.5,  111.5, 116.1, 121.5, 127.9, 135.7, 145.1, 156.3,
30                   169.2, 183.0,  196.6, 208.8, 219.3, 227.9, 235.0, 241.0, 246.0, 250.3,
31                   254.0,  257.4, 260.4, 263.2, 265.8, 268.2, 270.5, 272.7, 274.8, 276.9, 
32                   279.0};
33float  tilt[] = {23.0, 25.9, 28.8, 31.8, 34.8, 37.7, 40.7, 43.7, 46.7, 49.6,
34                52.6,  55.5, 58.4, 61.2, 63.9, 66.5, 69.0, 71.2, 73.1, 74.5,
35                 75.4,  75.6, 75.1, 74.0, 72.3, 70.2, 67.9, 65.4, 62.7, 59.9,
36                 57.1,  54.2, 51.3, 48.3, 45.4, 42.4, 39.4, 36.4, 33.5, 30.5, 
37                 27.5};
38
39void  setup()
40{
41  Serial.begin(9600);
42
43  for (int i = 10; i > 0; i--)
44  {  
45    Serial.print(i); 
46    Serial.print(", "); 
47    delay(1000);
48  }
49  Serial.println(" "); 
50      
51  //set pin modes
52  pinMode(DIR_PIN,  OUTPUT);
53  pinMode(STEP_PIN, OUTPUT);
54  
55  digitalWrite(DIR_PIN, LOW);  //LOW = CW, HIGH = CCW
56  digitalWrite(STEP_PIN, LOW);
57  
58  mg995Servo.attach(MG995_IN);  // Attach signal pin of MG995 to D6 pin
59
60  
61}
62
63void loop()
64{
65  // start of operation
66  int iter = count % 41;
67
68  moveTo(orient[iter]);
69  mg995Servo.write(tilt[iter]);
70  Serial.print(count);
71  Serial.print(",");
72  Serial.print(orientation);
73  Serial.print(",");
74  Serial.println(tilt[iter]);
75
76  // read panel data
77  analogReference(DEFAULT);
78  readPanelData(); // Call  readPanleData() function
79  delay(60000 * 15); // sets the interval between orientations
80
81  count++;
82}
83
84void moveSteps(int steps)
85{
86  if (steps > 0)
87    digitalWrite(DIR_PIN,  LOW); //LOW or HIGH
88  else
89    digitalWrite(DIR_PIN, HIGH);
90    
91  for  (int i = 0; i < abs(steps); i++)
92  {
93    digitalWrite(STEP_PIN, HIGH);    
94    delay(stepPause);
95    digitalWrite(STEP_PIN, LOW);      
96    delay(stepPause);
97  }
98}
99
100void moveTo(float angle)
101{
102  int steps = round((angle - orientation)  / stepAngle);
103  orientation += steps * stepAngle;
104  moveSteps(steps);
105}
106
107void  readPanelData() {
108
109  Serial.print(count); 
110  Serial.print(","); 
111
112  int val1 = analogRead(analogPin1);
113  delay(100);
114  int val2 = analogRead(analogPin1);
115  delay(100);
116  int val = int((val1 + val2)/2); // average
117  Serial.print(val);  
118  Serial.print(",");   
119  delay(100);
120
121  val1 = analogRead(analogPin2);
122  delay(100);
123  val2 = analogRead(analogPin2);
124  delay(100);
125  val = int((val1  + val2)/2); // average
126
127  Serial.println(val); 
128}
129

/*
 *12V motor: A4988 - orientation
 * MG995 Servo motor - tilt  angle
 * 
 * Solar panel terminals to Arduino:
  analog in A0 -- panel  1 -- fixed
  analog in A1 -- panel 2 -- tracking

*/

#include <Arduino.h>
#include  <Servo.h> // include servo library

#define DIR_PIN   2 //direction
#define  STEP_PIN  3 //step
#define MG995_IN 6 // Name Digital D6 pin of Arduinol

Servo  mg995Servo;  // Initialize a servo object

const int stepPause = 15; // micro  seconds between step motor input pulses
const float stepAngle = 1.8;  //1.8deg/step
float  orientation = 180.;  // current orientation
int count = 0; // int to count loop  iteration

int analogPin1 = A0;  //solar panel #1
int analogPin2 = A1;  //solar panel #2
                    
float orient[] = {77.8, 79.9, 81.9,  84.0, 86.1, 88.2, 90.5, 92.8, 95.3, 98.0, 
                  100.9, 104.0, 107.5,  111.5, 116.1, 121.5, 127.9, 135.7, 145.1, 156.3,
                   169.2, 183.0,  196.6, 208.8, 219.3, 227.9, 235.0, 241.0, 246.0, 250.3,
                   254.0,  257.4, 260.4, 263.2, 265.8, 268.2, 270.5, 272.7, 274.8, 276.9, 
                   279.0};
float  tilt[] = {23.0, 25.9, 28.8, 31.8, 34.8, 37.7, 40.7, 43.7, 46.7, 49.6,
                52.6,  55.5, 58.4, 61.2, 63.9, 66.5, 69.0, 71.2, 73.1, 74.5,
                 75.4,  75.6, 75.1, 74.0, 72.3, 70.2, 67.9, 65.4, 62.7, 59.9,
                 57.1,  54.2, 51.3, 48.3, 45.4, 42.4, 39.4, 36.4, 33.5, 30.5, 
                 27.5};

void  setup()
{
  Serial.begin(9600);

  for (int i = 10; i > 0; i--)
  {  
    Serial.print(i); 
    Serial.print(", "); 
    delay(1000);
  }
  Serial.println(" "); 
      
  //set pin modes
  pinMode(DIR_PIN,  OUTPUT);
  pinMode(STEP_PIN, OUTPUT);
  
  digitalWrite(DIR_PIN, LOW);  //LOW = CW, HIGH = CCW
  digitalWrite(STEP_PIN, LOW);
  
  mg995Servo.attach(MG995_IN);  // Attach signal pin of MG995 to D6 pin

  
}

void loop()
{
  // start of operation
  int iter = count % 41;

  moveTo(orient[iter]);
  mg995Servo.write(tilt[iter]);
  Serial.print(count);
  Serial.print(",");
  Serial.print(orientation);
  Serial.print(",");
  Serial.println(tilt[iter]);

  // read panel data
  analogReference(DEFAULT);
  readPanelData(); // Call  readPanleData() function
  delay(60000 * 15); // sets the interval between orientations

  count++;
}

void moveSteps(int steps)
{
  if (steps > 0)
    digitalWrite(DIR_PIN,  LOW); //LOW or HIGH
  else
    digitalWrite(DIR_PIN, HIGH);
    
  for  (int i = 0; i < abs(steps); i++)
  {
    digitalWrite(STEP_PIN, HIGH);    
    delay(stepPause);
    digitalWrite(STEP_PIN, LOW);      
    delay(stepPause);
  }
}

void moveTo(float angle)
{
  int steps = round((angle - orientation)  / stepAngle);
  orientation += steps * stepAngle;
  moveSteps(steps);
}

void  readPanelData() {

  Serial.print(count); 
  Serial.print(","); 

  int val1 = analogRead(analogPin1);
  delay(100);
  int val2 = analogRead(analogPin1);
  delay(100);
  int val = int((val1 + val2)/2); // average
  Serial.print(val);  
  Serial.print(",");   
  delay(100);

  val1 = analogRead(analogPin2);
  delay(100);
  val2 = analogRead(analogPin2);
  delay(100);
  val = int((val1  + val2)/2); // average

  Serial.println(val); 
}

Stepper Motor & Servo Motor Test

arduino

1/*
2 *12V motor: A4988 - orientation
3 * MG995 Servo motor - tilt  angle
4*/
5
6#include <Arduino.h>
7#include <Servo.h> // include servo library
8
9#define  DIR_PIN   2 //direction
10#define STEP_PIN  3 //step
11#define MG995_IN 6 // Name  Digital D6 pin of Arduinol
12
13Servo mg995Servo;  // Initialize a servo object
14
15const  int stepPause = 15; // micro seconds between step motor input pulses
16const float  stepAngle = 1.8;  //1.8deg/step
17float orientation = 180.;  // current orientation
18int  count = 0; // int to count loop iteration
19
20float orient[] = {77.8, 79.9, 81.9,  84.0, 86.1, 88.2, 90.5, 92.8, 95.3, 98.0, 
21                  100.9, 104.0, 107.5,  111.5, 116.1, 121.5, 127.9, 135.7, 145.1, 156.3,
22                   169.2, 183.0,  196.6, 208.8, 219.3, 227.9, 235.0, 241.0, 246.0, 250.3,
23                   254.0,  257.4, 260.4, 263.2, 265.8, 268.2, 270.5, 272.7, 274.8, 276.9, 
24                   279.0};
25float  tilt[] = {23.0, 25.9, 28.8, 31.8, 34.8, 37.7, 40.7, 43.7, 46.7, 49.6,
26                52.6,  55.5, 58.4, 61.2, 63.9, 66.5, 69.0, 71.2, 73.1, 74.5,
27                 75.4,  75.6, 75.1, 74.0, 72.3, 70.2, 67.9, 65.4, 62.7, 59.9,
28                 57.1,  54.2, 51.3, 48.3, 45.4, 42.4, 39.4, 36.4, 33.5, 30.5, 
29                 27.5};
30
31void  setup()
32{
33  //set pin modes
34  pinMode(DIR_PIN, OUTPUT);
35  pinMode(STEP_PIN,  OUTPUT);
36  
37  digitalWrite(DIR_PIN, LOW); //LOW = CW, HIGH = CCW
38  digitalWrite(STEP_PIN,  LOW);
39  
40  Serial.begin(9600);
41  mg995Servo.attach(MG995_IN);  // Attach  signal pin of MG995 to D6 pin
42  
43}
44
45void loop()
46{
47  int iter =  count % 41;
48
49  moveTo(orient[iter]);
50  mg995Servo.write(tilt[iter]);
51  Serial.print(count);
52  Serial.print(",");
53  Serial.print(orientation);
54  Serial.print(",");
55  Serial.println(tilt[iter]);
56
57  delay(500); //  sets the interval between orientations
58
59  count++;
60
61}
62
63void moveSteps(int  steps)
64{
65  if (steps > 0)
66    digitalWrite(DIR_PIN, LOW); //LOW or HIGH
67  else
68    digitalWrite(DIR_PIN, HIGH);
69    
70  for (int i = 0; i < abs(steps);  i++)
71  {
72    digitalWrite(STEP_PIN, HIGH);    
73    delay(stepPause);
74    digitalWrite(STEP_PIN, LOW);      
75    delay(stepPause);
76  }
77}
78
79void  moveTo(float angle)
80{
81  int steps = round((angle - orientation) / stepAngle);
82  orientation += steps * stepAngle;
83  moveSteps(steps);
84}
85

/*
 *12V motor: A4988 - orientation
 * MG995 Servo motor - tilt  angle
*/

#include <Arduino.h>
#include <Servo.h> // include servo library

#define  DIR_PIN   2 //direction
#define STEP_PIN  3 //step
#define MG995_IN 6 // Name  Digital D6 pin of Arduinol

Servo mg995Servo;  // Initialize a servo object

const  int stepPause = 15; // micro seconds between step motor input pulses
const float  stepAngle = 1.8;  //1.8deg/step
float orientation = 180.;  // current orientation
int  count = 0; // int to count loop iteration

float orient[] = {77.8, 79.9, 81.9,  84.0, 86.1, 88.2, 90.5, 92.8, 95.3, 98.0, 
                  100.9, 104.0, 107.5,  111.5, 116.1, 121.5, 127.9, 135.7, 145.1, 156.3,
                   169.2, 183.0,  196.6, 208.8, 219.3, 227.9, 235.0, 241.0, 246.0, 250.3,
                   254.0,  257.4, 260.4, 263.2, 265.8, 268.2, 270.5, 272.7, 274.8, 276.9, 
                   279.0};
float  tilt[] = {23.0, 25.9, 28.8, 31.8, 34.8, 37.7, 40.7, 43.7, 46.7, 49.6,
                52.6,  55.5, 58.4, 61.2, 63.9, 66.5, 69.0, 71.2, 73.1, 74.5,
                 75.4,  75.6, 75.1, 74.0, 72.3, 70.2, 67.9, 65.4, 62.7, 59.9,
                 57.1,  54.2, 51.3, 48.3, 45.4, 42.4, 39.4, 36.4, 33.5, 30.5, 
                 27.5};

void  setup()
{
  //set pin modes
  pinMode(DIR_PIN, OUTPUT);
  pinMode(STEP_PIN,  OUTPUT);
  
  digitalWrite(DIR_PIN, LOW); //LOW = CW, HIGH = CCW
  digitalWrite(STEP_PIN,  LOW);
  
  Serial.begin(9600);
  mg995Servo.attach(MG995_IN);  // Attach  signal pin of MG995 to D6 pin
  
}

void loop()
{
  int iter =  count % 41;

  moveTo(orient[iter]);
  mg995Servo.write(tilt[iter]);
  Serial.print(count);
  Serial.print(",");
  Serial.print(orientation);
  Serial.print(",");
  Serial.println(tilt[iter]);

  delay(500); //  sets the interval between orientations

  count++;

}

void moveSteps(int  steps)
{
  if (steps > 0)
    digitalWrite(DIR_PIN, LOW); //LOW or HIGH
  else
    digitalWrite(DIR_PIN, HIGH);
    
  for (int i = 0; i < abs(steps);  i++)
  {
    digitalWrite(STEP_PIN, HIGH);    
    delay(stepPause);
    digitalWrite(STEP_PIN, LOW);      
    delay(stepPause);
  }
}

void  moveTo(float angle)
{
  int steps = round((angle - orientation) / stepAngle);
  orientation += steps * stepAngle;
  moveSteps(steps);
}

Stepper Motor test

arduino

1/*
2 *12V motor: A4988 - orientation
3*/
4
5#include <Arduino.h>
6
7#define   DIR_PIN   2 //direction
8#define STEP_PIN  3 //step
9
10const int stepPause   = 15; // micro seconds between step motor input pulses
11const float stepAngle   = 1.8;  //1.8deg/step
12float orientation = 180.;  // current orientation
13
14void   setup()
15{
16  //set pin modes
17  pinMode(DIR_PIN, OUTPUT);
18  pinMode(STEP_PIN,   OUTPUT);
19  
20  digitalWrite(DIR_PIN, LOW); //LOW = CW, HIGH = CCW
21  digitalWrite(STEP_PIN,   LOW);
22  
23  Serial.begin(9600);
24  Serial.println("Booting");
25}
26
27void   loop()
28{
29  Serial.print("Orientation: ");
30  Serial.println(orientation);
31
32   moveTo(90);
33  delay(1000);
34  Serial.print("Orientation: ");
35  Serial.println(orientation);
36
37   moveTo(135);
38  delay(1000);
39  Serial.print("Orientation: ");
40  Serial.println(orientation);
41
42   moveTo(180);
43  delay(1000);
44  Serial.print("Orientation: ");
45  Serial.println(orientation);
46
47   moveTo(225);
48  delay(1000);
49  Serial.print("Orientation: ");
50  Serial.println(orientation);
51
52   moveTo(270);
53  delay(1000);
54  Serial.print("Orientation: ");
55  Serial.println(orientation);
56
57   moveTo(180);
58  delay(1000);
59  Serial.print("Orientation: ");
60  Serial.println(orientation);
61}
62
63void   moveSteps(int steps)
64{
65  if (steps > 0)
66    digitalWrite(DIR_PIN, LOW);   //LOW or HIGH
67  else
68    digitalWrite(DIR_PIN, HIGH);
69    
70  for (int   i = 0; i < abs(steps); i++)
71  {
72    digitalWrite(STEP_PIN, HIGH);    
73     delay(stepPause);
74    digitalWrite(STEP_PIN, LOW);      
75    delay(stepPause);
76   }
77}
78
79void moveTo(float angle)
80{
81  int steps = round((angle - orientation)   / stepAngle);
82  orientation += steps * stepAngle;
83  moveSteps(steps);
84}
85

/*
 *12V motor: A4988 - orientation
*/

#include <Arduino.h>

#define   DIR_PIN   2 //direction
#define STEP_PIN  3 //step

const int stepPause   = 15; // micro seconds between step motor input pulses
const float stepAngle   = 1.8;  //1.8deg/step
float orientation = 180.;  // current orientation

void   setup()
{
  //set pin modes
  pinMode(DIR_PIN, OUTPUT);
  pinMode(STEP_PIN,   OUTPUT);
  
  digitalWrite(DIR_PIN, LOW); //LOW = CW, HIGH = CCW
  digitalWrite(STEP_PIN,   LOW);
  
  Serial.begin(9600);
  Serial.println("Booting");
}

void   loop()
{
  Serial.print("Orientation: ");
  Serial.println(orientation);

   moveTo(90);
  delay(1000);
  Serial.print("Orientation: ");
  Serial.println(orientation);

   moveTo(135);
  delay(1000);
  Serial.print("Orientation: ");
  Serial.println(orientation);

   moveTo(180);
  delay(1000);
  Serial.print("Orientation: ");
  Serial.println(orientation);

   moveTo(225);
  delay(1000);
  Serial.print("Orientation: ");
  Serial.println(orientation);

   moveTo(270);
  delay(1000);
  Serial.print("Orientation: ");
  Serial.println(orientation);

   moveTo(180);
  delay(1000);
  Serial.print("Orientation: ");
  Serial.println(orientation);
}

void   moveSteps(int steps)
{
  if (steps > 0)
    digitalWrite(DIR_PIN, LOW);   //LOW or HIGH
  else
    digitalWrite(DIR_PIN, HIGH);
    
  for (int   i = 0; i < abs(steps); i++)
  {
    digitalWrite(STEP_PIN, HIGH);    
     delay(stepPause);
    digitalWrite(STEP_PIN, LOW);      
    delay(stepPause);
   }
}

void moveTo(float angle)
{
  int steps = round((angle - orientation)   / stepAngle);
  orientation += steps * stepAngle;
  moveSteps(steps);
}

Stepper Motor & Servo Motor Test

arduino

1/*
2 *12V motor: A4988 - orientation
3 * MG995 Servo motor - tilt   angle
4*/
5
6#include <Arduino.h>
7#include <Servo.h> // include servo library
8
9#define   DIR_PIN   2 //direction
10#define STEP_PIN  3 //step
11#define MG995_IN 6 // Name   Digital D6 pin of Arduinol
12
13Servo mg995Servo;  // Initialize a servo object
14
15const   int stepPause = 15; // micro seconds between step motor input pulses
16const float   stepAngle = 1.8;  //1.8deg/step
17float orientation = 180.;  // current orientation
18int   count = 0; // int to count loop iteration
19
20float orient[] = {77.8, 79.9, 81.9,   84.0, 86.1, 88.2, 90.5, 92.8, 95.3, 98.0, 
21                  100.9, 104.0, 107.5,   111.5, 116.1, 121.5, 127.9, 135.7, 145.1, 156.3,
22                   169.2, 183.0,   196.6, 208.8, 219.3, 227.9, 235.0, 241.0, 246.0, 250.3,
23                   254.0,   257.4, 260.4, 263.2, 265.8, 268.2, 270.5, 272.7, 274.8, 276.9, 
24                   279.0};
25float   tilt[] = {23.0, 25.9, 28.8, 31.8, 34.8, 37.7, 40.7, 43.7, 46.7, 49.6,
26                52.6,   55.5, 58.4, 61.2, 63.9, 66.5, 69.0, 71.2, 73.1, 74.5,
27                 75.4,   75.6, 75.1, 74.0, 72.3, 70.2, 67.9, 65.4, 62.7, 59.9,
28                 57.1,   54.2, 51.3, 48.3, 45.4, 42.4, 39.4, 36.4, 33.5, 30.5, 
29                 27.5};
30
31void   setup()
32{
33  //set pin modes
34  pinMode(DIR_PIN, OUTPUT);
35  pinMode(STEP_PIN,   OUTPUT);
36  
37  digitalWrite(DIR_PIN, LOW); //LOW = CW, HIGH = CCW
38  digitalWrite(STEP_PIN,   LOW);
39  
40  Serial.begin(9600);
41  mg995Servo.attach(MG995_IN);  // Attach   signal pin of MG995 to D6 pin
42  
43}
44
45void loop()
46{
47  int iter =   count % 41;
48
49  moveTo(orient[iter]);
50  mg995Servo.write(tilt[iter]);
51   Serial.print(count);
52  Serial.print(",");
53  Serial.print(orientation);
54   Serial.print(",");
55  Serial.println(tilt[iter]);
56
57  delay(500); //   sets the interval between orientations
58
59  count++;
60
61}
62
63void moveSteps(int   steps)
64{
65  if (steps > 0)
66    digitalWrite(DIR_PIN, LOW); //LOW or HIGH
67   else
68    digitalWrite(DIR_PIN, HIGH);
69    
70  for (int i = 0; i < abs(steps);   i++)
71  {
72    digitalWrite(STEP_PIN, HIGH);    
73    delay(stepPause);
74     digitalWrite(STEP_PIN, LOW);      
75    delay(stepPause);
76  }
77}
78
79void   moveTo(float angle)
80{
81  int steps = round((angle - orientation) / stepAngle);
82   orientation += steps * stepAngle;
83  moveSteps(steps);
84}
85

/*
 *12V motor: A4988 - orientation
 * MG995 Servo motor - tilt   angle
*/

#include <Arduino.h>
#include <Servo.h> // include servo library

#define   DIR_PIN   2 //direction
#define STEP_PIN  3 //step
#define MG995_IN 6 // Name   Digital D6 pin of Arduinol

Servo mg995Servo;  // Initialize a servo object

const   int stepPause = 15; // micro seconds between step motor input pulses
const float   stepAngle = 1.8;  //1.8deg/step
float orientation = 180.;  // current orientation
int   count = 0; // int to count loop iteration

float orient[] = {77.8, 79.9, 81.9,   84.0, 86.1, 88.2, 90.5, 92.8, 95.3, 98.0, 
                  100.9, 104.0, 107.5,   111.5, 116.1, 121.5, 127.9, 135.7, 145.1, 156.3,
                   169.2, 183.0,   196.6, 208.8, 219.3, 227.9, 235.0, 241.0, 246.0, 250.3,
                   254.0,   257.4, 260.4, 263.2, 265.8, 268.2, 270.5, 272.7, 274.8, 276.9, 
                   279.0};
float   tilt[] = {23.0, 25.9, 28.8, 31.8, 34.8, 37.7, 40.7, 43.7, 46.7, 49.6,
                52.6,   55.5, 58.4, 61.2, 63.9, 66.5, 69.0, 71.2, 73.1, 74.5,
                 75.4,   75.6, 75.1, 74.0, 72.3, 70.2, 67.9, 65.4, 62.7, 59.9,
                 57.1,   54.2, 51.3, 48.3, 45.4, 42.4, 39.4, 36.4, 33.5, 30.5, 
                 27.5};

void   setup()
{
  //set pin modes
  pinMode(DIR_PIN, OUTPUT);
  pinMode(STEP_PIN,   OUTPUT);
  
  digitalWrite(DIR_PIN, LOW); //LOW = CW, HIGH = CCW
  digitalWrite(STEP_PIN,   LOW);
  
  Serial.begin(9600);
  mg995Servo.attach(MG995_IN);  // Attach   signal pin of MG995 to D6 pin
  
}

void loop()
{
  int iter =   count % 41;

  moveTo(orient[iter]);
  mg995Servo.write(tilt[iter]);
   Serial.print(count);
  Serial.print(",");
  Serial.print(orientation);
   Serial.print(",");
  Serial.println(tilt[iter]);

  delay(500); //   sets the interval between orientations

  count++;

}

void moveSteps(int   steps)
{
  if (steps > 0)
    digitalWrite(DIR_PIN, LOW); //LOW or HIGH
   else
    digitalWrite(DIR_PIN, HIGH);
    
  for (int i = 0; i < abs(steps);   i++)
  {
    digitalWrite(STEP_PIN, HIGH);    
    delay(stepPause);
     digitalWrite(STEP_PIN, LOW);      
    delay(stepPause);
  }
}

void   moveTo(float angle)
{
  int steps = round((angle - orientation) / stepAngle);
   orientation += steps * stepAngle;
  moveSteps(steps);
}

Main Test Program

arduino

1/*
2 *12V motor: A4988 - orientation
3 * MG995 Servo motor - tilt
4  angle
5 * 
6 * Solar panel terminals to Arduino:
7  analog in A0 -- panel
8  1 -- fixed
9  analog in A1 -- panel 2 -- tracking
10
11*/
12
13#include <Arduino.h>
14#include
15  <Servo.h> // include servo library
16
17#define DIR_PIN   2 //direction
18#define
19  STEP_PIN  3 //step
20#define MG995_IN 6 // Name Digital D6 pin of Arduinol
21
22Servo
23  mg995Servo;  // Initialize a servo object
24
25const int stepPause = 15; // micro
26  seconds between step motor input pulses
27const float stepAngle = 1.8;  //1.8deg/step
28float
29  orientation = 180.;  // current orientation
30int count = 0; // int to count loop
31  iteration
32
33int analogPin1 = A0;  //solar panel #1
34int analogPin2 = A1;
35  //solar panel #2
36                    
37float orient[] = {77.8, 79.9, 81.9,
38  84.0, 86.1, 88.2, 90.5, 92.8, 95.3, 98.0, 
39                  100.9, 104.0, 107.5,
40  111.5, 116.1, 121.5, 127.9, 135.7, 145.1, 156.3,
41                   169.2, 183.0,
42  196.6, 208.8, 219.3, 227.9, 235.0, 241.0, 246.0, 250.3,
43                   254.0,
44  257.4, 260.4, 263.2, 265.8, 268.2, 270.5, 272.7, 274.8, 276.9, 
45                   279.0};
46float
47  tilt[] = {23.0, 25.9, 28.8, 31.8, 34.8, 37.7, 40.7, 43.7, 46.7, 49.6,
48                52.6,
49  55.5, 58.4, 61.2, 63.9, 66.5, 69.0, 71.2, 73.1, 74.5,
50                 75.4,
51  75.6, 75.1, 74.0, 72.3, 70.2, 67.9, 65.4, 62.7, 59.9,
52                 57.1,
53  54.2, 51.3, 48.3, 45.4, 42.4, 39.4, 36.4, 33.5, 30.5, 
54                 27.5};
55
56void
57  setup()
58{
59  Serial.begin(9600);
60
61  for (int i = 10; i > 0; i--)
62
63  {  
64    Serial.print(i); 
65    Serial.print(", "); 
66    delay(1000);
67
68  }
69  Serial.println(" "); 
70      
71  //set pin modes
72  pinMode(DIR_PIN,
73  OUTPUT);
74  pinMode(STEP_PIN, OUTPUT);
75  
76  digitalWrite(DIR_PIN, LOW);
77  //LOW = CW, HIGH = CCW
78  digitalWrite(STEP_PIN, LOW);
79  
80  mg995Servo.attach(MG995_IN);
81  // Attach signal pin of MG995 to D6 pin
82
83  
84}
85
86void loop()
87{
88
89  // start of operation
90  int iter = count % 41;
91
92  moveTo(orient[iter]);
93
94  mg995Servo.write(tilt[iter]);
95  Serial.print(count);
96  Serial.print(",");
97
98  Serial.print(orientation);
99  Serial.print(",");
100  Serial.println(tilt[iter]);
101
102
103  // read panel data
104  analogReference(DEFAULT);
105  readPanelData(); // Call
106  readPanleData() function
107  delay(60000 * 15); // sets the interval between orientations
108
109
110  count++;
111}
112
113void moveSteps(int steps)
114{
115  if (steps > 0)
116    digitalWrite(DIR_PIN,
117  LOW); //LOW or HIGH
118  else
119    digitalWrite(DIR_PIN, HIGH);
120    
121  for
122  (int i = 0; i < abs(steps); i++)
123  {
124    digitalWrite(STEP_PIN, HIGH);    
125
126    delay(stepPause);
127    digitalWrite(STEP_PIN, LOW);      
128    delay(stepPause);
129
130  }
131}
132
133void moveTo(float angle)
134{
135  int steps = round((angle - orientation)
136  / stepAngle);
137  orientation += steps * stepAngle;
138  moveSteps(steps);
139}
140
141void
142  readPanelData() {
143
144  Serial.print(count); 
145  Serial.print(","); 
146
147
148  int val1 = analogRead(analogPin1);
149  delay(100);
150  int val2 = analogRead(analogPin1);
151
152  delay(100);
153  int val = int((val1 + val2)/2); // average
154  Serial.print(val);
155  
156  Serial.print(",");   
157  delay(100);
158
159  val1 = analogRead(analogPin2);
160
161  delay(100);
162  val2 = analogRead(analogPin2);
163  delay(100);
164  val = int((val1
165  + val2)/2); // average
166
167  Serial.println(val); 
168}
169

/*
 *12V motor: A4988 - orientation
 * MG995 Servo motor - tilt
  angle
 * 
 * Solar panel terminals to Arduino:
  analog in A0 -- panel
  1 -- fixed
  analog in A1 -- panel 2 -- tracking

*/

#include <Arduino.h>
#include
  <Servo.h> // include servo library

#define DIR_PIN   2 //direction
#define
  STEP_PIN  3 //step
#define MG995_IN 6 // Name Digital D6 pin of Arduinol

Servo
  mg995Servo;  // Initialize a servo object

const int stepPause = 15; // micro
  seconds between step motor input pulses
const float stepAngle = 1.8;  //1.8deg/step
float
  orientation = 180.;  // current orientation
int count = 0; // int to count loop
  iteration

int analogPin1 = A0;  //solar panel #1
int analogPin2 = A1;
  //solar panel #2
                    
float orient[] = {77.8, 79.9, 81.9,
  84.0, 86.1, 88.2, 90.5, 92.8, 95.3, 98.0, 
                  100.9, 104.0, 107.5,
  111.5, 116.1, 121.5, 127.9, 135.7, 145.1, 156.3,
                   169.2, 183.0,
  196.6, 208.8, 219.3, 227.9, 235.0, 241.0, 246.0, 250.3,
                   254.0,
  257.4, 260.4, 263.2, 265.8, 268.2, 270.5, 272.7, 274.8, 276.9, 
                   279.0};
float
  tilt[] = {23.0, 25.9, 28.8, 31.8, 34.8, 37.7, 40.7, 43.7, 46.7, 49.6,
                52.6,
  55.5, 58.4, 61.2, 63.9, 66.5, 69.0, 71.2, 73.1, 74.5,
                 75.4,
  75.6, 75.1, 74.0, 72.3, 70.2, 67.9, 65.4, 62.7, 59.9,
                 57.1,
  54.2, 51.3, 48.3, 45.4, 42.4, 39.4, 36.4, 33.5, 30.5, 
                 27.5};

void
  setup()
{
  Serial.begin(9600);

  for (int i = 10; i > 0; i--)

  {  
    Serial.print(i); 
    Serial.print(", "); 
    delay(1000);

  }
  Serial.println(" "); 
      
  //set pin modes
  pinMode(DIR_PIN,
  OUTPUT);
  pinMode(STEP_PIN, OUTPUT);
  
  digitalWrite(DIR_PIN, LOW);
  //LOW = CW, HIGH = CCW
  digitalWrite(STEP_PIN, LOW);
  
  mg995Servo.attach(MG995_IN);
  // Attach signal pin of MG995 to D6 pin

  
}

void loop()
{

  // start of operation
  int iter = count % 41;

  moveTo(orient[iter]);

  mg995Servo.write(tilt[iter]);
  Serial.print(count);
  Serial.print(",");

  Serial.print(orientation);
  Serial.print(",");
  Serial.println(tilt[iter]);


  // read panel data
  analogReference(DEFAULT);
  readPanelData(); // Call
  readPanleData() function
  delay(60000 * 15); // sets the interval between orientations


  count++;
}

void moveSteps(int steps)
{
  if (steps > 0)
    digitalWrite(DIR_PIN,
  LOW); //LOW or HIGH
  else
    digitalWrite(DIR_PIN, HIGH);
    
  for
  (int i = 0; i < abs(steps); i++)
  {
    digitalWrite(STEP_PIN, HIGH);    

    delay(stepPause);
    digitalWrite(STEP_PIN, LOW);      
    delay(stepPause);

  }
}

void moveTo(float angle)
{
  int steps = round((angle - orientation)
  / stepAngle);
  orientation += steps * stepAngle;
  moveSteps(steps);
}

void
  readPanelData() {

  Serial.print(count); 
  Serial.print(","); 


  int val1 = analogRead(analogPin1);
  delay(100);
  int val2 = analogRead(analogPin1);

  delay(100);
  int val = int((val1 + val2)/2); // average
  Serial.print(val);
  
  Serial.print(",");   
  delay(100);

  val1 = analogRead(analogPin2);

  delay(100);
  val2 = analogRead(analogPin2);
  delay(100);
  val = int((val1
  + val2)/2); // average

  Serial.println(val); 
}

Downloadable files

Full Measurement system

Documentation

Assembly of tracking panel

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