Some refactor and tried to figure out the angles right
This commit is contained in:
@@ -1,3 +1,4 @@
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from objects.generic import Target, Source
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import numpy as np
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# Einheitsvektoren
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@@ -23,12 +24,6 @@ def proj(vec, axis: int =1):
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ax = get_axis(axis)
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return np.dot(vec, ax) * ax
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def abs_custom(vec):
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l = 0
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for i in range(3):
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l += vec[i] ** 2
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return np.sqrt(l)
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def rotate(v, angle=90, axis=1):
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"Rotate a vector with an angle around a axis with the right hand rule."
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angle = angle/180 * np.pi
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@@ -42,13 +37,9 @@ def rotate(v, angle=90, axis=1):
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def agl(a, b):
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"Get the angle between two vectors. This is always between 0 and 180 degree."
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return np.round(np.acos(np.dot(a, b)/(abs_custom(a) * abs_custom(b)))/(2 * np.pi) * 360)
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return np.round(np.acos(np.dot(a, b)/(np.linalg.norm(a) * np.linalg.norm(b)))/(2 * np.pi) * 360)
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def normalize(vec):
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l = abs_custom(vec)
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return vec/l
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def get_angles(source, target):
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def get_angles(source: Source, target: Target):
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"""Main function to get the phi and theta angles for a source and a target vector. Both vectors must lie on the front half sphere.
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Phi is from 0 to 180 where 0 means left when you look at the mirrors. The hardware is bounded between 45 and 135 degree. Thus the here provided angle needs to be subtracted by 45 and then doubled.
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Theta is from 0 to 90 where 0 means up."""
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@@ -60,6 +51,7 @@ def get_angles(source, target):
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source_theta = agl(rotate(source, 90 - source_phi, 3), unit_z)
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target_theta = agl(rotate(target, 90 - target_phi, 3), unit_z)
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print(target_theta)
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phi = None
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theta = None
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@@ -80,28 +72,5 @@ def get_angles(source, target):
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else:
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theta = source_theta + theta_diff/2
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print(phi, theta)
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return (phi, theta)
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GRID_SIZE = 10
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# Aufbau der Koordinaten
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# Das Zentrum des Spiegels hinten rechts bildet den Ursprung
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# Dann geht die x-Achse nach links und die y-Achse nach vorne
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# X, Y, Z
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source_orig = np.array([0, 20, 0])
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target_orig = np.array([0, 20, 0])
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# Strategie des Programms
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# 1. Iteration ueber jeden Spiegel
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# 2. Berechnung des Quellvektors und des Targetvektors fuer die Position des Spiegels
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# 3. Berechne
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for x in range(4):
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for y in range(2):
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x_size = x * GRID_SIZE
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y_size = y * GRID_SIZE
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phi, theta = get_angles(source_orig - unit_x * x_size - unit_y * y_size, target_orig - unit_x * x_size - unit_y * y_size)
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print(f"For grid ({x}, {y}), phi = {phi} and theta = {theta}.")
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25
objects/generic.py
Normal file
25
objects/generic.py
Normal file
@@ -0,0 +1,25 @@
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import numpy as np
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class MovingEntity:
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"""Embedded entity in the world with a position."""
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def __init__(self, world):
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self.world = world
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self.pos = np.array((0.0, 0.0, 0.0)) # (x, y, z) in local untilted coordinates
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def get_pos_rotated(self):
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"""Return position rotated by world's tilt around y-axis."""
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return self.world.rotate_point_y(self.pos)
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def move(self, dx=0, dy=0, dz=0):
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self.pos = (self.pos[0] + dx, self.pos[1] + dy, self.pos[2] + dz)
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class Target(MovingEntity):
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def __init__(self, world, pos=(0.0, 0.0, 0.0)):
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super().__init__(world)
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self.pos = np.array(pos) # Store everything in numpy
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class Source(MovingEntity):
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def __init__(self, world, pos=(10.0, 10.0, 10.0)):
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super().__init__(world)
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self.pos = np.array(pos)
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@@ -1,7 +1,6 @@
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"""Helpers for building moving mirrors."""
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from objects.board import Board
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import time
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class Motor:
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"""Model a type of servo motor."""
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@@ -33,11 +32,6 @@ class Motor:
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def set(self):
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self.board.kit.servo[self.id].angle = self.angle * self.scale + self.offset
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def safe_set_angle(angle=0, sleep=0.01, offset=1):
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self.board.kit.servo[NUM].angle = angle + offset
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time.sleep(sleep)
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kit.servo[NUM].angle = angle
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def set_angle(self, angle):
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self.angle = min(self.coverage, max(0, angle)) # Double check bad
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self.set()
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130
objects/solar.py
130
objects/solar.py
@@ -1,128 +1,27 @@
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"""Alle gemessenen Koordinaten der Quelle und der Sonne haben den Ursprung in der linken unteren Ecke des Clusters in einem rechtshaendigen flachen System.
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"""
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"""Alle gemessenen Koordinaten der Quelle und der Sonne haben den Ursprung in der linken unteren Ecke des Clusters in einem rechtshaendigen flachen System."""
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from objects.generic import Source, Target
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import math
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import objects.motor as motor
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import numpy as np
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from objects.calculator import get_angles
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# Einheitsvektoren
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unit_x = np.array([1, 0, 0])
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unit_y = np.array([0, 1, 0])
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unit_z = np.array([0, 0, 1])
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def get_axis(axis):
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"Axis are numbered from 1 to 3 from x to z."
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match axis:
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case 1:
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ax = unit_x
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case 2:
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ax = unit_y
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case 3:
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ax = unit_z
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case _:
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ax = unit_x
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return ax
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def proj(vec, axis: int =1):
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"""Simple vector projection onto an axis."""
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ax = get_axis(axis)
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return np.dot(vec, ax) * ax
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def abs_custom(vec):
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l = 0
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for i in range(3):
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l += vec[i] ** 2
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return np.sqrt(l)
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def rotate(v, angle=90, axis=1):
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"Rotate a vector with an angle around a axis with the right hand rule."
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angle = angle/180 * np.pi
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k = get_axis(axis)
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return (
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v * np.cos(angle)
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+ np.cross(k, v) * np.sin(angle)
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+ k * np.dot(k, v) * (1 - np.cos(angle))
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)
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def agl(a, b):
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"Get the angle between two vectors. This is always between 0 and 180 degree."
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return np.round(np.acos(np.dot(a, b)/(abs_custom(a) * abs_custom(b)))/(2 * np.pi) * 360)
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def normalize(vec):
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l = abs_custom(vec)
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return vec/l
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def get_angles(source, target):
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"""Main function to get the phi and theta angles for a source and a target vector. Both vectors must lie on the front half sphere.
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Phi is from 0 to 180 where 0 means left when you look at the mirrors. The hardware is bounded between 45 and 135 degree. Thus the here provided angle needs to be subtracted by 45 and then doubled.
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Theta is from 0 to 90 where 0 means up."""
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source_planar = source - proj(source, 3)
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target_planar = target - proj(target, 3)
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source_phi = agl(source_planar, unit_x)
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target_phi = agl(target_planar, unit_x)
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source_theta = agl(rotate(source, 90 - source_phi, 3), unit_z)
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target_theta = agl(rotate(target, 90 - target_phi, 3), unit_z)
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phi = None
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theta = None
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theta_diff = None
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phi_diff = agl(source_planar, target_planar)
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if source_phi < target_phi:
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rota = rotate(source_planar, phi_diff, 3)
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theta_diff = agl(rota, target)
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phi = source_phi + phi_diff/2
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else:
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rota = rotate(target_planar, phi_diff, 3)
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theta_diff = agl(rota, source)
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phi = target_phi + phi_diff/2
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if source_theta < target_theta:
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theta = target_theta + theta_diff/2
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else:
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theta = source_theta + theta_diff/2
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return (phi, theta)
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class MovingEntity:
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"""Embedded entity in the world with a position."""
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def __init__(self, world):
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self.world = world
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self.pos = (0.0, 0.0, 0.0) # (x, y, z) in local untilted coordinates
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def get_pos_rotated(self):
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"""Return position rotated by world's tilt around y-axis."""
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return self.world.rotate_point_y(self.pos)
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def move(self, dx=0, dy=0, dz=0):
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self.pos = (self.pos[0] + dx, self.pos[1] + dy, self.pos[2] + dz)
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class Target(MovingEntity):
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def __init__(self, world, pos=(0.0, 0.0, 0.0)):
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super().__init__(world)
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self.pos = pos
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class Source(MovingEntity):
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def __init__(self, world, pos=(10.0, 10.0, 10.0)):
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super().__init__(world)
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self.pos = pos
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class Mirror:
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def __init__(self, world, cluster_x=0, cluster_y=0):
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self.world = world
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self.world: World = world
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self.cluster_x = cluster_x
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self.cluster_y = cluster_y
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# Store the motors
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self.phi = motor.Motor(self.world.board)
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self.theta = motor.Motor(self.world.board)
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self.phi = motor.Motor(self.world.board)
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# Position in un-tilted coordinate system
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self.pos = (cluster_x * self.world.grid_size, cluster_y * self.world.grid_size, 0.0)
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self.pos = np.array(
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[cluster_x * self.world.grid_size, cluster_y * self.world.grid_size, 0.0]
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)
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def get_pos_rotated(self):
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return self.world.rotate_point_y(self.pos)
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@@ -130,9 +29,9 @@ class Mirror:
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def set_angle_from_source_target(self, source: Source, target: Target):
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"Set the angles of a mirror from global source and target vectors."
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rot_pos = np.array([self.get_pos_rotated()])
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rel_source = np.array([source.pos]) - rot_pos
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rel_target = np.array([target.pos]) - rot_pos
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rot_pos = self.get_pos_rotated()
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rel_source = source.pos - rot_pos
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rel_target = target.pos - rot_pos
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phi, theta = get_angles(rel_source, rel_target)
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@@ -143,13 +42,14 @@ class Mirror:
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def get_angles(self):
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return self.phi.angle, self.theta.angle
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class World:
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def __init__(self, board, tilt_deg=0.0):
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self.board = board
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self.grid_size = 10 # In cm
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self.tilt_deg = tilt_deg # Tilt of the grid system around y-axis
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self.mirrors = []
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self.mirrors: list[Mirror] = []
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def add_mirror(self, mirror):
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self.mirrors.append(mirror)
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@@ -167,4 +67,4 @@ class World:
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x_rot = x * cos_t + z * sin_t
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y_rot = y
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z_rot = -x * sin_t + z * cos_t
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return (x_rot, y_rot, z_rot)
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return np.array([x_rot, y_rot, z_rot])
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13
shell.nix
13
shell.nix
@@ -1,13 +0,0 @@
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{ pkgs ? import <nixpkgs> {} }:
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# Simple python shell for all packages
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pkgs.mkShell {
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buildInputs = with pkgs; [
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(pkgs.python313.withPackages (ps: with ps; [
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matplotlib
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numpy
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ty
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]))
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];
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}
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@@ -1,10 +1,8 @@
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import time
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import math
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# Solar module for simulation of world
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import objects.solar as solar # Modeling of the world
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from objects.motor import Motor # Small helper functions and constants
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from objects.board import Board
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STEP = 10
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@@ -20,8 +18,8 @@ source = solar.Source(world, pos=(0, 50, 0))
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target = solar.Target(world, pos=(0, 50, 0))
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# Create mirrors in a 3x2 grid
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for x in range(4):
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for y in range(2):
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for x in range(2):
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for y in range(1):
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mirror = solar.Mirror(world, cluster_x=x, cluster_y=y)
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world.add_mirror(mirror)
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@@ -29,21 +27,27 @@ world.update_mirrors_from_source_target(source, target)
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def print_status():
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for i, mirror in enumerate(world.mirrors):
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pitch, yaw = mirror.get_angles()
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print(f"Mirror {i} ({mirror.cluster_x}, {mirror.cluster_y}) angles -> pitch: {pitch:.2f}°, yaw: {yaw:.2f}°")
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phi, theta = mirror.get_angles()
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print(f"Mirror {i} ({mirror.cluster_x}, {mirror.cluster_y}) angles -> phi: {phi:.2f}°, theta: {theta:.2f}°")
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print_status()
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a = 1
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t = time.time()
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world.mirrors[0].phi.set_angle(180)
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world.mirrors[0].theta.set_angle(180)
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world.mirrors[1].phi.set_angle(0)
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world.mirrors[1].theta.set_angle(0)
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print_status()
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# Main
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try:
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while True:
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source.move(0, 0, 0.1)
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#source.move(0, 0, 0.5)
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#source.move(10 * math.sin(a * t), 10 * math.cos(a * t))
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print(source.pos)
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print(target.pos)
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#print(source.pos)
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#print(target.pos)
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world.update_mirrors_from_source_target(source, target)
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print_status()
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