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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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12
README.md
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@@ -1,3 +1,15 @@
# Solarmotor
Mobilizing mirror cluster.
## Information
Use adafruit servokit to manage the servos through the external board.
Enable the I2C module for the rasberry pi.
Install the package and initialize with
```python
from adafruit_servokit import ServoKit
kit = ServoKit(channels=16)
kit.servo[0].angle = 180
```

61
clock.py Normal file
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@@ -0,0 +1,61 @@
import pigpio
import RPi.GPIO as GPIO
import time
import os
from motor import Motor # Models the motor
# Constants
SERVO1_PIN = 18
SERVO2_PIN = 19
BUTTON1_FWD = 5
BUTTON1_BWD = 6
BUTTON2_FWD = 17
BUTTON2_BWD = 27
SHUTDOWN_BTN = 26
STEP = 2
LOOP_DELAY = 0.3 # In seconds
# Local pi
pi = pigpio.pi()
if not pi:
os.exit()
# Setup the controls
GPIO.setmode(GPIO.BCM)
for btn in [BUTTON1_FWD, BUTTON1_BWD, BUTTON2_FWD, BUTTON2_BWD, SHUTDOWN_BTN]:
GPIO.setup(btn, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
# Setup motors
m1 = Motor(pi, SERVO1_PIN)
m2 = Motor(pi, SERVO2_PIN)
# Main
try:
while True:
# Inputs shutdown
if GPIO.input(SHUTDOWN_BTN) == GPIO.HIGH:
os.system("sudo shutdown now")
# Motors
if GPIO.input(BUTTON1_FWD):
m1.inc(STEP)
elif GPIO.input(BUTTON1_BWD):
m1.inc(-STEP)
if GPIO.input(BUTTON2_FWD):
m2.inc(STEP)
elif GPIO.input(BUTTON2_BWD):
m2.inc(-STEP)
time.sleep(LOOP_DELAY)
except KeyboardInterrupt:
pass
finally:
del m1
del m2
pi.stop()
GPIO.cleanup()

123
motor.py
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@@ -1,100 +1,49 @@
import pigpio
import RPi.GPIO as GPIO
import time
import os
"""Helpers for building moving mirrors."""
# Solar module for simulation of world
import solar
class Motor:
"""Model a type of servo motor."""
# Constants
SERVO1_PIN = 18
SERVO2_PIN = 19
BUTTON1_FWD = 5
BUTTON1_BWD = 6
BUTTON2_FWD = 17
BUTTON2_BWD = 27
SHUTDOWN_BTN = 26
MIN_PULSE = 500 # In ms
# Default vaules for every motor
MAX_PULSE = 2500
INIT_PULSE = 1000
STEP = 10
LOOP_DELAY = 0.01 # In seconds
MIN_PULSE = 500
COVERAGE = 180 # Total degree of freedom in degrees
AREA = MAX_PULSE - MIN_PULSE
OFFSET = 2 # In degrees a constant to be added
SCALE = 1 # Scaling
# Setup
GPIO.setmode(GPIO.BCM)
for btn in [BUTTON1_FWD, BUTTON1_BWD, BUTTON2_FWD, BUTTON2_BWD, SHUTDOWN_BTN]:
GPIO.setup(btn, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
# Used for ids
count = 0
pi = pigpio.pi()
if not pi.connected:
print("Cannot connect to pigpio daemon!")
exit()
def __init__(self, pi, pin, angle=0):
self.id = Motor.count; Motor.count += 1
self.pi = pi # Local pi instance
pulse1 = INIT_PULSE
pulse2 = INIT_PULSE
pi.set_servo_pulsewidth(SERVO1_PIN, pulse1)
pi.set_servo_pulsewidth(SERVO2_PIN, pulse2)
self.pin = pin
self.angle = angle
self.offset = Motor.OFFSET # Fine grained controls over every motor
self.scale = Motor.SCALE
# Helpers
def move_servo(current, target, step=STEP):
if current < target:
current = min(current + step, target)
elif current > target:
current = max(current - step, target)
return current
# Initialization
self.set()
# Testing embedding the mirrors in the world
world = solar.World(tilt_deg=15) # The world is tilted 15 degrees around y-axis
def angle_to_pulse(self, angle):
return min(max(Motor.MIN_PULSE, (Motor.MIN_PULSE + Motor.AREA * angle/Motor.COVERAGE + self.offset) * self.scale), Motor.MAX_PULSE)
source = solar.Source(world, pos=(100, 100, 100))
target = solar.Target(world, pos=(50, 50, 0))
# Update the motor position on hardware
def set(self):
self.pi.set_servo_pulsewidth(self.pin, self.angle_to_pulse(self.angle))
# Create mirrors in a 9x9 grid
for x in range(3):
for y in range(3):
mirror = solar.Mirror(world, cluster_x=x, cluster_y=y)
world.add_mirror(mirror)
def set_angle(self, angle):
self.angle = angle
self.set()
world.update_mirrors_from_source_target(source, target)
def __str__(self):
return f"Motor {self.id} is set at {self.angle} degrees."
for i, mirror in enumerate(world.mirrors):
pitch, yaw = mirror.get_angles()
print(f"Mirror {i} ({mirror.cluster_x}, {mirror.cluster_y}) angles -> pitch: {pitch:.2f}°, yaw: {yaw:.2f}°")
def __del__(self):
self.pi.set_servo_pulsewidth(self.pin, 0)
# Main
try:
while True:
# Shutdown
if GPIO.input(SHUTDOWN_BTN) == GPIO.HIGH:
os.system("sudo shutdown now")
# Motor 1
target1 = pulse1
if GPIO.input(BUTTON1_FWD):
target1 = min(MAX_PULSE, pulse1 + STEP)
elif GPIO.input(BUTTON1_BWD):
target1 = max(MIN_PULSE, pulse1 - STEP)
pulse1 = move_servo(pulse1, target1)
pi.set_servo_pulsewidth(SERVO1_PIN, pulse1)
# Motor 2
target2 = pulse2
if GPIO.input(BUTTON2_FWD):
target2 = min(MAX_PULSE, pulse2 + STEP)
elif GPIO.input(BUTTON2_BWD):
target2 = max(MIN_PULSE, pulse2 - STEP)
pulse2 = move_servo(pulse2, target2)
pi.set_servo_pulsewidth(SERVO2_PIN, pulse2)
time.sleep(LOOP_DELAY)
except KeyboardInterrupt:
pass
finally:
pi.set_servo_pulsewidth(SERVO1_PIN, 0)
pi.set_servo_pulsewidth(SERVO2_PIN, 0)
pi.stop()
GPIO.cleanup()
def inc(self, inc):
self.angle += inc
self.angle = min(max(self.angle, 0), Motor.COVERAGE) # Clip
self.set()

23
print.py
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@@ -1,23 +0,0 @@
import RPi.GPIO as GPIO
import time
# Setup
GPIO.setmode(GPIO.BCM)
PIN = 26
GPIO.setup(PIN, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
print(f"Monitoring GPIO{PIN}. Press Ctrl+C to exit.")
try:
while True:
if GPIO.input(PIN):
print(f"GPIO{PIN} is HIGH")
else:
print(f"GPIO{PIN} is LOW")
time.sleep(0.5)
except KeyboardInterrupt:
print("Exiting...")
finally:
GPIO.cleanup()

107
simulation.py Normal file
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@@ -0,0 +1,107 @@
import pigpio
import RPi.GPIO as GPIO
import time
# Solar module for simulation of world
import solar # Modeling of the world
from motor import Motor # Small helper functions and constants
# Constants
SERVO1_PIN = 18
SERVO2_PIN = 19
INIT_PULSE = 0
STEP = 10
LOOP_DELAY = 0.01 # In seconds
pi = pigpio.pi()
if not pi.connected:
print("Cannot connect to pigpio daemon!")
exit()
angle1 = init_motor(SERVO1_PIN)
angle2 = init_motor(SERVO2_PIN)
# Testing embedding the mirrors in the world
world = solar.World(tilt_deg=15) # The world is tilted 15 degrees around y-axis
HEIGHT = 30
source = solar.Source(world, pos=(0, 0, 30))
target = solar.Target(world, pos=(20, 0, 30))
# Create mirrors in a 9x9 grid
for x in range(3):
for y in range(3):
mirror = solar.Mirror(world, cluster_x=x, cluster_y=y)
world.add_mirror(mirror)
world.update_mirrors_from_source_target(source, target)
for i, mirror in enumerate(world.mirrors):
pitch, yaw = mirror.get_angles()
print(f"Mirror {i} ({mirror.cluster_x}, {mirror.cluster_y}) angles -> pitch: {pitch:.2f}°, yaw: {yaw:.2f}°")
def sm1(a): # Set motor 1
pi.set_servo_pulsewidth(SERVO1_PIN, angle_to_pulse(a))
time.sleep(2)
angle = 150
time.sleep(10)
sm1(150)
sm1(90)
sm1(0)
sm1(180)
sm1(30)
sm1(120)
sm1(60)
sm1(30)
sm1(180)
sm1(120)
sm1(30)
sm1(150)
sm1(3)
# Main
try:
while True:
# Shutdown
if GPIO.input(SHUTDOWN_BTN) == GPIO.HIGH:
os.system("sudo shutdown now")
pulse1 = angle_to_pulse(angle)
time.sleep(3)
angle += 10
# Motor 1
target1 = pulse1
if GPIO.input(BUTTON1_FWD):
target1 = min(MAX_PULSE, pulse1 + STEP)
elif GPIO.input(BUTTON1_BWD):
target1 = max(MIN_PULSE, pulse1 - STEP)
pulse1 = move_servo(pulse1, target1)
pi.set_servo_pulsewidth(SERVO1_PIN, pulse1)
# Motor 2
target2 = pulse2
if GPIO.input(BUTTON2_FWD):
target2 = min(MAX_PULSE, pulse2 + STEP)
elif GPIO.input(BUTTON2_BWD):
target2 = max(MIN_PULSE, pulse2 - STEP)
pulse2 = move_servo(pulse2, target2)
pi.set_servo_pulsewidth(SERVO2_PIN, pulse2)
time.sleep(LOOP_DELAY)
except KeyboardInterrupt:
pass
finally:
pi.set_servo_pulsewidth(SERVO1_PIN, 0)
pi.set_servo_pulsewidth(SERVO2_PIN, 0)
pi.stop()
GPIO.cleanup()

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 = []