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3F5_Smelchak_Seeker.ino
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3F5_Smelchak_Seeker.ino
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#include <Servo.h>
// Pin connections
const int panServoPin = 9;
const int tiltServoPin = 10;
const int sensorPin = A0;
// Servo motor instances
Servo panServo;
Servo tiltServo;
// Configuration
const int sensorThreshold = 700;
const int servoStep = 5;
const int searchRange = 180;
void setup() {
Serial.begin(9600);
panServo.attach(panServoPin);
tiltServo.attach(tiltServoPin);
panServo.write(searchRange / 2);
tiltServo.write(searchRange / 2);
}
void loop() {
int maxSensorValue = 0;
int maxPanAngle = 0;
int maxTiltAngle = 0;
// Sweep the pan and tilt servos to search for the target
for (int panAngle = 0; panAngle <= searchRange; panAngle += servoStep) {
panServo.write(panAngle);
for (int tiltAngle = 0; tiltAngle <= searchRange; tiltAngle += servoStep) {
tiltServo.write(tiltAngle);
delay(50); // Allow time for servos to move and sensor to stabilize
int sensorValue = analogRead(sensorPin);
if (sensorValue > maxSensorValue) {
maxSensorValue = sensorValue;
maxPanAngle = panAngle;
maxTiltAngle = tiltAngle;
}
}
}
Serial.print("Max Sensor Value: ");
Serial.print(maxSensorValue);
Serial.print(" at Pan Angle: ");
Serial.print(maxPanAngle);
Serial.print(" and Tilt Angle: ");
Serial.println(maxTiltAngle);
// Move the servos to the position with the highest sensor value
if (maxSensorValue > sensorThreshold) {
panServo.write(maxPanAngle);
tiltServo.write(maxTiltAngle);
}
delay(1000); // Wait for 1 second before the next search cycle
}