#include <Stepper.h>

#define cdsRU A0
#define cdsRD A1
#define cdsLU A2
#define cdsLD A3
#define VoltageSensorPin A4
#define AmpereSensorPin A5
#define endSwitch1 2
#define endSwitch2 3
#define blindmotorAnode 4
#define blindmotorCathode 5
boolean blindmotorStatus;

const int delaytime = 240000;
const int SensorMinValue = 0;
const int SensorMaxValue = 800;

float cdsRUvalue, cdsRDvalue, cdsLUvalue, cdsLDvalue = 0;
float VoltageSensorValue, AmpereSensorValue, PowerValue = 0;

const int stpr = 513;

Stepper st1(stpr, 12, 10, 11, 9);
Stepper st2(stpr, 8, 6, 7, 5);

//————————————————
int ProcessingValue() {
cdsRUvalue = analogRead(cdsRUvalue);
cdsRDvalue = analogRead(cdsRDvalue);
cdsLUvalue = analogRead(cdsLUvalue);
cdsLDvalue = analogRead(cdsLDvalue);

float cdsRUmappingvalue = map(cdsRUvalue, SensorMinValue, SensorMaxValue, 0, 10);
float cdsRDmappingvalue = map(cdsRDvalue, SensorMinValue, SensorMaxValue, 0, 10);
float cdsLUmappingvalue = map(cdsLUvalue, SensorMinValue, SensorMaxValue, 0, 10);
float cdsLDmappingvalue = map(cdsLDvalue, SensorMinValue, SensorMaxValue, 0, 10);

float RUV = constrain(cdsRUmappingvalue, 0.00, 10.00);
float RDV = constrain(cdsRDmappingvalue, 0.00, 10.00);
float LUV = constrain(cdsLUmappingvalue, 0.00, 10.00);
float LDV = constrain(cdsLDmappingvalue, 0.00, 10.00);

if ((RUV + RDV + LUV + LDV)/4 > 8) {
return 1; // blinding
}

else if ((RUV + RDV) > (LUV + LDV)) {
return 2; // turn right
}

else if ((RUV + RDV) < (LUV + LDV)) {
return 3; // turn left
}

else if ((RUV + RDV + LUV + LDV)/4 < 200) {
return 0; // unblinding
}

else {
return 4; // fixed
}
}

void motorcontrol() {
switch(ProcessingValue()) {
case 0:
unblinding();
break;

case 1:
blinding();
break;

case 2:
for(int s=0; s<6; s++) {
st1.step(1);
st2.step(1);
}
delay(500);
break;

case 3:
for(int s=0; s>(-6); s–) {
st1.step(-1);
st2.step(-1);
}
delay(500);
break;

case 4:
delay(500);
}
delay(1);
}

void unblinding() {
if (blindmotorStatus == 1 || endSwitch1 == 0) {
while (endSwitch2 == 1) {
digitalWrite(blindmotorAnode, HIGH);
digitalWrite(blindmotorCathode, LOW);
//delay(3000); // unblinding
}
blindmotorStatus != blindmotorStatus;
}
}

void blinding() {
if (blindmotorStatus == 0 || endSwitch2 == 0) {
while (endSwitch1 == 1) {

digitalWrite(blindmotorAnode, LOW);
digitalWrite(blindmotorCathode, HIGH);
//delay(3000); //blinding
}
blindmotorStatus != blindmotorStatus;
}
}

void GeneratingStatus() {
VoltageSensorValue = analogRead(VoltageSensorPin);
AmpereSensorValue = analogRead(AmpereSensorPin);
PowerValue = VoltageSensorValue * AmpereSensorValue;

Serial.print(“[");
Serial.print(millis());
Serial.print(",");
Serial.print(PowerValue);
Serial.println("]“);
delay(delaytime);
}

void setup() {
Serial.begin(9600);
st1.setSpeed(7);
st2.setSpeed(7);
pinMode(endSwitch1, INPUT_PULLUP);
pinMode(endSwitch2, INPUT_PULLUP);
pinMode(blindmotorAnode, OUTPUT);
pinMode(blindmotorCathode, OUTPUT);
}

void loop() {
motorcontrol();
GeneratingStatus();
delay(delaytime);
}

import serial
form numpy import *
import matplotlib.pyplot as plt

ard = serial.Serial(‘COM11’, 9600)
ard.readline()
ard.flush()

lstX = [] lstY = []

plt.ion()
fig = plt.figure()
sf = fig.add_subplot(111)
plt.xlim([0,43200])
plt.ylim([300,1000])
line1, = sf.plot(arrX, arrY, ‘r’)

while True:
bytesR = ard.readline()
lstR = eval(bytesR[:=2].decode())
timeR = lstR[0]/1000.0

lstX.append(timeR)
lstY.append(latR[1])

line1.set_xdata(lstX)
line1.set_ydata(lstY)

plt.draw(), plt.pause(0.00001)
print(‘time:%.3fs, value:%d’ % (timeR, lstR[1]) )

au.close()