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// lab #3 Q3

// note: other light sources such as computer monitor, TV, and other light bulbs
// can produce somewhat unexpected maximums -- the light sensor might thus
// not perfectly point at your LED light unless you turn them off.
// the tilt of the light sensor can also affect the results.

// note: the first method seems faster and more simple but it doesn't follow small 
// changes in the position of the light as well as the second method. it also has
// to move far away from the light during the sweep of all angles.  
// In practice a combination of the two methods might be the best approach 
// or maybe some other method like the first method but over a smaller 
// range in some situations so it tracks better.

#include <Servo.h> // include file for servo control  //UNDERSTOOD

Servo servo1;  // create servo object to control servo #1  //UNDERSTOOD






void setup() {

	servo1.attach(7);  // connect pin 7 to servo #1  //UNDERSTOOD

	// initialize serial communication at 115200 bits per second
	Serial.begin(115200);	
}








// first method -- a sweep over all angles
void loop() {

	// note this program could also be put in setup() after Serial.begin
	
	// note this loop function gets executed repeatedly unlike Q1
	// -- see if you can spot the difference

	int theta1_d; // desired servo angle   //Q1:isn't that suppose to be a float value ?

	int analog_input0; // analog input for pin A0   //UNDERSTOOD  
  
	float voltage0; // voltage input for pin A0  //UNDERSTOOD

	float min;   //Q2: why do we need this part ?

	int theta1_d_min; // servo angle for minimum voltage / maximum light    //UNDERSTOOD

	float t;  //UNDERSTOOD
	
	// move to the initial position of 0 deg
	theta1_d = 0;    //UNDERSTOOD
	servo1.write(theta1_d);  //UNDERSTOOD
	delay(1000);  // wait for the servo to get to theta1 = 0 deg   //UNDERSTOOD
				
	// move servo #1 between 0 and 180 deg in 1 deg increments  //UNDERSTOOD
	// find the minimum voltage (i.e. maximum light)			

	min = 1.0e6; // bad minimum	 //Q3: what do you mean by bad minimum and why this value ?

	for(theta1_d = 0;theta1_d<=180;theta1_d++) {
	
		servo1.write(theta1_d); // move servo #1 to desired angle  //UNDERSTOOD
		delay(50); // wait for servo to get to desired angle  //UNDERSTOOD
		// smaller delays will move the servo faster but with more error  //UNDERSTOOD
		// ie difference between theta1 (actual) and theta1_d (desired)  //UNDERSTOOD
	
		analog_input0 = analogRead(A0);	// read the analog input for pin A0  //UNDERSTOOD
		voltage0 = analog_input0/1023.0*5; // convert input to V (0 to 5V) //UNDERSTOOD

    // approximate value of t -- should use t0 as in Q2 solution
    t = micros()*1.0e-6;   //UNDERSTOOD
   
		if(voltage0 < min) {  //UNDERSTOOD
			min = voltage0;  //UNDERSTOOD
			theta1_d_min = theta1_d; // also record theta1_d for min  //UNDERSTOOD
		}











	
		// print out for testing/plotting purposes -- comment out for
		// better performance
		Serial.print("\n");  //UNDERSTOOD
		Serial.print(t);  //UNDERSTOOD
		Serial.print(","); // for csv file   //UNDERSTOOD
		Serial.print(voltage0);  //UNDERSTOOD
		Serial.print(","); // for csv file  //UNDERSTOOD
		Serial.print(theta1_d);  //UNDERSTOOD
	}




	// move to the min voltage / max light position

	servo1.write(theta1_d_min);  //Q4: what value is this exactly, in the loop we basicaly never use it except if the voltage is below min value

	delay(1000);  // wait for the servo to get to theta1_d_min   //UNDERSTOOD
	


	//  wait 10s before beginning the maximizing procedure again
	delay(10000);  //UNDERSTOOD
	
}