Changed structure

simulation.py

@@ -1,29 +1,17 @@
-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
+from motor import Board
 
-# 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
+board = Board()
+world = solar.World(board, tilt_deg=15)  # The world is tilted 15 degrees around y-axis
 
 HEIGHT = 30
 
@@ -42,30 +30,6 @@ 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:
@@ -73,35 +37,7 @@ try:
         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()