Crazy ideas time...
Obviously moving the machine, even a small amount, requires a bit of power to be used. In the case of DC motors, for example, one must provide enough power to overcome the load on the motor and then power to brake the motor.
In many applications the goal of using a solar tracker or heliostat is to save or harness energy. So, we don't want to move the machine unless absolutely necessary.
Q: When do we really want to move the machine?
A: When the sun/target has moved a given angle.
The current solar/heliostat code moves the machines every updateEvery
seconds (default 30) but the sun's speed through the sky is not constant
. Since quite an accurate algorithm is implemented for the position of the sun it may be possible to move when the position has changed sufficiently rather than just after a given number of seconds, at least this would work for slow update rates... say between 15 mins and 1 hour (this is because the calculation takes quite long... ~15 seconds and would have to be repeated to find the optimal time to move).
Alternatively, since we have analytical formulae for the position of the sun (equations of motion) one might even be able to solve them to give an expression for when to move next (when the sun will have moved by a given angle) given the current lat/long and time.
What do you guys think?