code_DAST.ino

#include <Servo.h>
 //defining servo
Servo servohori;
int servoh=0;
int servohLimitHigh=160; //avg position max
int servohLimitLow=20; //avg position min

Servo servoverti;
int servov=0;
int servovLimitHigh=160; //avg position max
int servovLimitLow=20; //avg position min

//Assigning LDRs

int ldrtopl=2;//top left LDR green
int ldrtopr=1;//top right LDR red
int ldrbotl=3;//bottom left LDR yellow
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;
  int avgbot=(botl+botr)/2;
  int avgleft=(topl+botl)/2;
  int avgright=(topr+botr)/2;

  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);
}