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Updated tracking to changes made in refactor-patch

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This commit is contained in:
Snorre Selmer 2022-06-09 23:38:38 +02:00
parent 2a50ecf864
commit 1a67ff7e33
1 changed files with 32 additions and 25 deletions
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solar_tracking.ic10
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@ -1,31 +1,38 @@
# This code assumes the following:
# Daylight Sensor data-port points north
# Solar Panel data-port points east
alias sensor d0 alias sensor d0
alias v_angle r0
alias h_angle r1
define solar_panel_hash -539224550 alias angle_v r0
define heavy_solar_panel_hash -1545574413 alias angle_h r1
alias corr_angle r2
# define directions of sensor and panel power ports
define sensor_data_angle 0
define panel_power_angle 90
# define panel hashes
define basic_1_panel -2045627372
define basic_2_panel -539224550
define heavy_1_panel -934345724
define heavy_2_panel -1545574413
# calculate horizontal correction
sub corr_angle sensor_data_angle panel_power_angle
sub corr_angle corr_angle 90
start: start:
# Calculate vertical angle
l v_angle sensor Vertical
div v_angle v_angle 1.5
sub v_angle 50 v_angle
# Write vertical angle to all solar panels
sb solar_panel_hash Vertical v_angle
sb heavy_solar_panel_hash Vertical v_angle
# Obtain horizontal angle
l h_angle sensor Horizontal
# Write vertical angle to all solar panels
sb solar_panel_hash Horizontal h_angle
sb heavy_solar_panel_hash Horizontal h_angle
# Go to start again
yield yield
l angle_v sensor Vertical
sub angle_v 90 angle_v
l angle_h sensor Horizontal
add angle_h angle_h corr_angle
sb basic_1_panel Vertical angle_v
sb basic_2_panel Vertical angle_v
sb heavy_1_panel Vertical angle_v
sb heavy_2_panel Vertical angle_v
sb basic_1_panel Horizontal angle_h
sb basic_2_panel Horizontal angle_h
sb heavy_1_panel Horizontal angle_h
sb heavy_2_panel Horizontal angle_h
j start j start