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 (
@@ -34,14 +37,20 @@ 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.
-       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.
-       Theta is from 0 to 90 where 0 means up."""
+    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.
+    Theta is from 0 to 90 where 0 means up."""
     source_planar = source - proj(source, 3)
     target_planar = target - proj(target, 3)
 
@@ -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" },