Formatting

.gitignore

@@ -1 +1 @@
-__pycache__/
+__pycache__

calculator.py

@@ -5,6 +5,7 @@ unit_x = np.array([1, 0, 0])
 unit_y = np.array([0, 1, 0])
 unit_z = np.array([0, 0, 1])
 
+
 def get_axis(axis):
     "Axis are numbered from 1 to 3 from x to z."
     match axis:
@@ -18,14 +19,16 @@ def get_axis(axis):
             ax = unit_x
     return ax
 
-def proj(vec, axis: int =1):
+
+def proj(vec, axis: int = 1):
     """Simple vector projection onto an axis."""
     ax = get_axis(axis)
     return np.dot(vec, ax) * ax
 
+
 def rotate(v, angle=90, axis=1):
     "Rotate a vector with an angle around a axis with the right hand rule."
-    angle = angle/180 * np.pi
+    angle = angle / 180 * np.pi
     k = get_axis(axis)
 
     return (
@@ -34,9 +37,15 @@ def rotate(v, angle=90, axis=1):
         + k * np.dot(k, v) * (1 - np.cos(angle))
     )
 
+
 def agl(a, b):
     "Get the angle between two vectors. This is always between 0 and 180 degree."
-    return np.round(np.acos(np.dot(a, b)/(np.linalg.norm(a) * np.linalg.norm(b)))/(2 * np.pi) * 360)
+    return np.round(
+        np.acos(np.dot(a, b) / (np.linalg.norm(a) * np.linalg.norm(b)))
+        / (2 * np.pi)
+        * 360
+    )
+
 
 def get_angles(source, target):
     """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.
@@ -59,15 +68,15 @@ def get_angles(source, target):
     if source_phi < target_phi:
         rota = rotate(source_planar, phi_diff, 3)
         theta_diff = agl(rota, target)
-        phi = source_phi + phi_diff/2
+        phi = source_phi + phi_diff / 2
     else:
         rota = rotate(target_planar, phi_diff, 3)
         theta_diff = agl(rota, source)
-        phi = target_phi + phi_diff/2
+        phi = target_phi + phi_diff / 2
 
     if source_theta < target_theta:
-        theta = target_theta + theta_diff/2
+        theta = target_theta + theta_diff / 2
     else:
-        theta = source_theta + theta_diff/2
+        theta = source_theta + theta_diff / 2
 
     return (phi, theta)

helpers.py

@@ -0,0 +1,9 @@
+from objects.world import World
+
+
+def print_status(world: World):
+    for i, mirror in enumerate(world.mirrors):
+        phi, theta = mirror.get_angles()
+        print(
+            f"Mirror {i} ({mirror.cluster_x}, {mirror.cluster_y}) angles -> phi: {phi:.2f}°, theta: {theta:.2f}°"
+        )

objects/mirror.py

@@ -1,3 +1,8 @@
+"""
+When theta motor is at 0 then mirror is up and when at 180 then mirror is front.
+Phi 0 equals right and phi 180 equals left by 45 degrees.
+"""
+
 import numpy as np
 
 from objects.generic import Source, Target
@@ -5,9 +10,10 @@ from objects.motor import Motor
 
 from calculator import get_angles
 
+
 class Mirror:
     def __init__(self, world, cluster_x=0, cluster_y=0):
-        self.world = world
+        self.world = world # TODO: Fix this cyclic reference
         self.cluster_x = cluster_x
         self.cluster_y = cluster_y
 
@@ -32,7 +38,7 @@ class Mirror:
         rel_source = source.pos - rot_pos
         rel_target = target.pos - rot_pos
 
-        phi, theta = get_angles(rel_source, rel_target)  # ty:ignore[unresolved-reference]
+        phi, theta = get_angles(rel_source, rel_target)
 
         # Update the angles based on the normals in rotated positions
         self.motor_phi.set_angle(phi)

objects/world.py

@@ -53,3 +53,4 @@ class World:
         y_rot = y
         z_rot = -x * sin_t + z * cos_t
         return np.array([x_rot, y_rot, z_rot])
+  

simulation.py

@@ -1,3 +1,4 @@
+from helpers import print_status
 import time
 
 from objects.generic import Source, Target
@@ -6,42 +7,21 @@ from objects.mirror import Mirror
 from objects.board import Board
 
 # Solar module for simulation of world
-STEP = 10
 LOOP_DELAY = 0.005 # In seconds
 
 # Testing embedding the mirrors in the world
 board = Board()
 world = World(board, tilt_deg=0)
 
-HEIGHT = 30
-
 source = Source(world, pos=(0, 50, 0))
 target = Target(world, pos=(0, 50, 0))
 
-# Create mirrors in a 3x2 grid
+# Create mirrors in a grid
 for x in range(2):
     for y in range(1):
         mirror = Mirror(world, cluster_x=x, cluster_y=y)
         world.add_mirror(mirror)
 
-world.update_mirrors_from_source_target(source, target)
-
-def print_status():
-    for i, mirror in enumerate(world.mirrors):
-        phi, theta = mirror.get_angles()
-        print(f"Mirror {i} ({mirror.cluster_x}, {mirror.cluster_y}) angles -> phi: {phi:.2f}°, theta: {theta:.2f}°")
-
-
-a = 1
-t = time.time()
-
-world.mirrors[0].motor_theta.set_angle(180)
-world.mirrors[0].motor_phi.set_angle(180)
-world.mirrors[1].motor_phi.set_angle(0)
-world.mirrors[1].motor_theta.set_angle(0)
-
-print_status()
-
 # Main
 try:
     while True:
@@ -51,11 +31,9 @@ try:
         #print(target.pos)
 
         world.update_mirrors_from_source_target(source, target)
-        print_status()
+        print_status(world)
 
         time.sleep(LOOP_DELAY)
 
-        t = time.time()
-
 except KeyboardInterrupt:
     pass

uv.lock

@@ -516,7 +516,7 @@ wheels = [
 
 [[package]]
 name = "solarmotor"
-version = "0.1.0"
+version = "0.1.1"
 source = { virtual = "." }
 dependencies = [
     { name = "adafruit-blinka" },