Here my Tracker Desired angle calculated for single tracker. Since there array of tracker tracker has to be modified to get more output.
In my below code Angle is being decremented instead of increment, tracker desired and Angle are not matching
COde here
http://paste.ubuntu.com/7173040/
void calc_back_track()
{
static int D_min;
static float height=1200;
static float D_max;
static int altiude;
float phi_a = azimuth*M_PI/180;
// D_max=1500*D_min;
// D_min= D_max*cos(180-phi_a);
// tracker_desire=(atan(h/D_min)*(180/M_PI));
//tracker_desire=tracker_desire-90;
// D_min= D_max*cos(phi_a-180);
calcElevationAngle();
D_max=height/tan(conv_elevation*0.0174532925);
Serial.print("DMAX:");
Serial.println(D_max);
D_min= D_max*cos(180-phi_a);
Serial.print("D_min:");
Serial.println(D_min);
Angle=(atan(height/D_max)*(180/M_PI));
Serial.print("Shadow_angle:");
Serial.println(Angle);
if(conv_elevation>0)
tracker_desire = 90-conv_elevation;
else
tracker_desire = -(90+conv_elevation);
limitTrackerDesAngle();
}
void limitTrackerDesAngle(){
tracker_desire = constrain(tracker_desire,-MAX_TRACK_ANGLE,MAX_TRACK_ANGLE);
}
