Changed structure

board.py

@@ -0,0 +1,12 @@
+from adafruit_servokit import ServoKit
+
+class Board:
+    def __init__(self, channels=16, frequency=50):
+        self.channels = channels
+        self.frequency = frequency
+        self.kit = ServoKit(channels=channels, frequency=frequency)
+
+        for i in range(CHANNELS):
+            kit.servo[i].set_pulse_width_range(MIN, MAX)
+            kit.servo[i].actuation_range = RANGE
+            kit.servo[i].angle = INIT

motor.py

@@ -1,11 +1,5 @@
 """Helpers for building moving mirrors."""
 
-from adafruit_servokit import ServoKit
-
-class Board:
-    def __init__(self, channels=16, frequency=50):
-        self.kit = ServoKit(channels=channels, frequency=frequency)
-
 class Motor:
     """Model a type of servo motor."""
 
@@ -13,42 +7,40 @@ class Motor:
     MAX_PULSE = 2500
     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
+    OFFSET = 0 # In degrees a constant to be added
     SCALE = 1 # Scaling
 
     # Used for ids
     count = 0
 
-    def __init__(self, pi, pin, angle=0):
+    def __init__(self, board, angle=0):
+        self.board = board
         self.id = Motor.count; Motor.count += 1
-        self.pi = pi # Local pi instance
 
-        self.pin = pin
         self.angle = angle
         self.offset = Motor.OFFSET # Fine grained controls over every motor
+        self.coverage = Motor.COVERAGE
         self.scale = Motor.SCALE
 
         # Initialization
         self.set()
 
-    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)
-
     # Update the motor position on hardware
     def set(self):
-        self.pi.set_servo_pulsewidth(self.pin, self.angle_to_pulse(self.angle))
+        self.board.kit.servo[self.id].angle = self.angle * self.scale + self.offset
+
+    def safe_set_angle(angle=0, sleep=0.01, offset=1):
+        kit.servo[NUM].angle = angle + offset
+        time.sleep(sleep)
+        kit.servo[NUM].angle = angle
 
     def set_angle(self, angle):
-        self.angle = angle
+        self.angle = min(self.coverage, max(0, angle)) # Double check bad
         self.set()
 
     def __str__(self):
         return f"Motor {self.id} is set at {self.angle} degrees."
 
-    def __del__(self):
-        self.pi.set_servo_pulsewidth(self.pin, 0)
-
     def inc(self, inc):
         self.angle += inc
         self.angle = min(max(self.angle, 0), Motor.COVERAGE) # Clip

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()

solar.py

@@ -31,8 +31,8 @@ class Mirror:
         self.cluster_y = cluster_y
 
         # Store the motors
-        self.yaw = motor.Motor(self.world.pi, yaw_pin)
-        self.pitch = motor.Motor(self.world.pi, pitch_pin)
+        self.yaw = motor.Motor(self.world.board)
+        self.pitch = motor.Motor(self.world.board)
 
         # Position in un-tilted coordinate system
         self.pos = (cluster_x * self.world.grid_size, cluster_y * self.world.grid_size, 0.0)
@@ -81,8 +81,8 @@ class Mirror:
         return self.yaw.angle, self.pitch.angle
 
 class World:
-    def __init__(self, pi, tilt_deg=0.0):
-        self.pi = pi
+    def __init__(self, board, tilt_deg=0.0):
+        self.board = board
 
         self.grid_size = 10  # In cm
         self.tilt_deg = tilt_deg  # Tilt of the grid system around y-axis

test.py

@@ -1,54 +0,0 @@
-import time
-from adafruit_servokit import ServoKit
-
-# This is set to zero for the max range
-OFFSET = -10
-
-MIN = 500 + OFFSET
-MAX = 2500 - OFFSET
-CHANNELS = 16
-RANGE = 180
-INIT = 0
-FREQUENCY = 50
-
-# Setup the kit
-kit = ServoKit(channels=CHANNELS, frequency=FREQUENCY)
-
-for i in range(CHANNELS):
-    kit.servo[i].set_pulse_width_range(MIN, MAX)
-    kit.servo[i].actuation_range = RANGE
-    kit.servo[i].angle = INIT
-
-time.sleep(2)
-
-# Testing the accuracy of the lib
-NUM = 8
-OFFSET = 5
-
-# Set the angle
-def sa(angle=0, sleep=1.5):
-    print(f"Set angle of pin {NUM+1} to {angle}.")
-    kit.servo[NUM].angle = angle + OFFSET
-    time.sleep(0.01)
-    kit.servo[NUM].angle = angle
-    kit.servo[NUM].angle = angle - OFFSET
-    time.sleep(0.01)
-    kit.servo[NUM].angle = angle
-    time.sleep(sleep)
-
-sa(80)
-exit()
-
-#for i in range(180):
-    #sa(i, 0)
-    #time.sleep(0.1)
-
-
-# Run the actual testing
-sa(10)
-sa(90)
-sa(30)
-sa(170)
-sa(60)
-sa(150)
-sa(90, 0)