jonas/solarmotor
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Some work

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This commit is contained in:
Jonas Hahn
2025-10-16 08:28:04 +02:00
parent 6bf2586b01
commit 45404bb504
6 changed files with 229 additions and 121 deletions
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22
solar.py
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@@ -25,17 +25,17 @@ class Source(MovingEntity):
self.pos = pos
class Mirror:
def __init__(self, world, cluster_x=0, cluster_y=0):
def __init__(self, world, pitch_pin, yaw_pin, cluster_x=0, cluster_y=0):
self.world = world
self.cluster_x = cluster_x
self.cluster_y = cluster_y
self.angle_x = 0.0
self.angle_y = 0.0
# Store the motors
self.yaw = motor.Motor(self.world.pi, yaw_pin)
self.pitch = motor.Motor(self.world.pi, pitch_pin)
# Position in un-tilted coordinate system
self.pos = (cluster_x * self.world.grid_size,
cluster_y * self.world.grid_size,
0.0)
self.pos = (cluster_x * self.world.grid_size, cluster_y * self.world.grid_size, 0.0)
def get_pos_rotated(self):
return self.world.rotate_point_y(self.pos)
@@ -74,14 +74,16 @@ class Mirror:
mirror_normal = normalize(mirror_normal)
# Update the angles based on the normals in rotated positions
self.angle_y = math.degrees(math.atan2(mirror_normal[0], mirror_normal[2]))
self.angle_x = math.degrees(math.atan2(mirror_normal[1], mirror_normal[2]))
self.yaw.set_angle(math.degrees(math.atan2(mirror_normal[0], mirror_normal[2])))
self.pitch.set_angle(math.degrees(math.atan2(mirror_normal[1], mirror_normal[2])))
def get_angles(self):
return self.angle_x, self.angle_y
return self.yaw.angle, self.pitch.angle
class World:
def __init__(self, tilt_deg=0.0):
def __init__(self, pi, tilt_deg=0.0):
self.pi = pi
self.grid_size = 10 # In cm
self.tilt_deg = tilt_deg # Tilt of the grid system around y-axis
self.mirrors = []