Solar 2-Axis Tracking Fixed

# Tallinu's Improved, Configurable, Spin-Glitchless
# Two Axis Solar Tracking with Night Park
# XHead changed only sensor required
# -- Configure for your build before use! --

# Daylight sensor should face UP.

# Which side is each device's port on?
# For 2-port solar panels, use the POWER port!
# Replace 9 with 0=North, 1=West, 2=South, 3=East
define SensorPortDirection 9 # Daylight Sensor
define PanelPortDirection 9 # Solar Panels

# -- No configuration beyond this point. --

define hashDoublePanel -539224550
define hashSinglePanel -2045627372
alias dDaylightSensor d0
alias rAngle r0
alias rNightMode r1
alias rNightModeSet r11
alias rSensorAngle r14
alias rPanelAngle r15

#Init H rotation offset for solar panel placement
mul rPanelAngle PanelPortDirection 90
#Solar panel V axis is perpendicular to port
sub rPanelAngle rPanelAngle 90
#Keep offset within -180 to 180
add rPanelAngle rPanelAngle 180
mod rPanelAngle rPanelAngle 360
sub rPanelAngle rPanelAngle 180
#Init daylight sensor rotation offset
mul rSensorAngle SensorPortDirection 90
#Config Check
bltz SensorPortDirection ConfigError
bgt SensorPortDirection 3 ConfigError
bltz PanelPortDirection ConfigError
bgt PanelPortDirection 3 ConfigError
#Hardware check, DS required
bdns dDaylightSensor SensorError

Loop:
#Get Vertical angle from sensor
l rAngle dDaylightSensor Vertical
#If abs rAngle > 90, sun is below horizon. Unlike
#"Activate," this test isn't fooled by mountains!
abs rNightMode rAngle #Weak typing allows temp use
sgt rNightMode rNightMode 90 #1=night, 0=day
and rNightModeSet rNightMode rNightModeSet
beq rNightModeSet 1 Loop
#Convert to panel's 150 degree percent-based range
sub rAngle 75 rAngle
div rAngle rAngle 1.5 #Result should be 50 or less
#Clamp value to the bounds 0-100
max rAngle rAngle 0 #Otherwise, <0 near dawn/dusk.
min rAngle rAngle 100 #This "shouldn't" happen...
#Write vertical to solar panels
sb hashDoublePanel Vertical rAngle
sb hashSinglePanel Vertical rAngle
yield

#Checking DS "Activate" state is unnecessary, since
#we've determined if sun is up from vertical angle.
#At night, don't care what H angle it would report.
#Pre-load horizontal angle for East for simplicity.
move rAngle -90
#If it's night, skip to panel offset.
bnez rNightMode SkipHereAtNight
#Get Horizontal from sensor
l rAngle dDaylightSensor Horizontal
#Virtually rotate readings so 0 occurs at noon
#and the jump between - and + is at midnight.
add rAngle rAngle rSensorAngle
#Keep rAngle between -180 and +180
add rAngle rAngle 180
mod rAngle rAngle 360
sub rAngle rAngle 180
SkipHereAtNight:
snez rNightModeSet rNightMode
#Add panel placement offset
#Combined value ranges -360 to 360
add rAngle rAngle rPanelAngle
#Write horizontal angle to solar panels
sb hashDoublePanel Horizontal rAngle
sb hashSinglePanel Horizontal rAngle
yield

#Repeat forever
j Loop

SensorError:
#Daylight sensor not assigned, fix and reset IC
s db Setting 9001
s db Error 1 #Writing to this is not allowed, LOL.
ConfigError:
#Did Not Read The Instructions
s db Setting 8001
s db Error 1 #Which includes a line number. Bonus!