arduino_spg.ino

#include <Servo.h>

//defining Servos
Servo servohori;
int servoh = 0;
int servohLimitHigh = 160;
int servohLimitLow = 20;
Servo servoverti; 
int servov = 0; 
int servovLimitHigh = 160;
int servovLimitLow = 20;

//Assigning LDRs
int ldrtopl = 2; //top left LDR green
int ldrtopr = 1; //top right LDR yellow
int ldrbotl = 3; // bottom left LDR blue
int ldrbotr = 0; // bottom right LDR orange

void setup(){
  servohori.attach(10);
  servohori.write(0);
  servoverti.attach(9);
  servoverti.write(0);
  delay(500);
}

void loop(){
  servoh = servohori.read();
  servov = servoverti.read();
  //capturing analog values of each LDR
  int topl = analogRead(ldrtopl);
  int topr = analogRead(ldrtopr);
  int botl = analogRead(ldrbotl);
  int botr = analogRead(ldrbotr);
  // calculating average
  int avgtop = (topl + topr) / 2; //average of top LDRs
  int avgbot = (botl + botr) / 2; //average of bottom LDRs
  int avgleft = (topl + botl) / 2; //average of left LDRs
  int avgright = (topr + botr) / 2; //average of right LDRs

  if (avgtop < avgbot){
    servoverti.write(servov +1);
    if (servov > servovLimitHigh)
      servov = servovLimitHigh;
    delay(10);
  }
  else if (avgbot < avgtop){
    servoverti.write(servov -1);
    if (servov < servovLimitLow)
		servov = servovLimitLow;
    delay(10);
  }
  else servoverti.write(servov);
  
  if (avgleft > avgright){
    servohori.write(servoh +1);
    if (servoh > servohLimitHigh)
    	servoh = servohLimitHigh;
    delay(10);
  }
  else if (avgright > avgleft){
    servohori.write(servoh -1);
    if (servoh < servohLimitLow)
    	servoh = servohLimitLow;
    delay(10);
  }
  else servohori.write(servoh);
  delay(50);
}