Formatting

.gitignore

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

.python-version

@@ -1 +1 @@
-3.12
+3.13

Makefile

@@ -1,5 +0,0 @@
-sim:
-	python simulation.py
-
-sync:
-	rsync -r --exclude=venv ~/solarmotor guest@hahn1.one:

README.md

@@ -8,12 +8,6 @@ Use adafruit servokit to manage the servos through the external board.
 Enable the I2C module for the rasberry pi.
 Install the package and initialize with
 
-```python
-from adafruit_servokit import ServoKit
-kit = ServoKit(channels=16)
-kit.servo[0].angle = 180
-```
-
 ```text
 https://pinout.xyz/ Full pinout for the rpi3
 https://components101.com/sites/default/files/component_datasheet/SG90%20Servo%20Motor%20Datasheet.pdf Datasheet for the servomotor used
@@ -23,7 +17,7 @@ https://ben.akrin.com/raspberry-pi-servo-jitter/ Blog post how to fix jittering
 Local address
 inet6 fe80::7e2c:ada5:5de7:9a2c/64
 
-## Cables
+## Cables on the rpi
 
 From right to left
 

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:
@@ -18,20 +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 abs_custom(vec):
-    l = 0
-    for i in range(3):
-        l += vec[i] ** 2
-    return np.sqrt(l)
 
 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 (
@@ -40,13 +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)/(abs_custom(a) * abs_custom(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 normalize(vec):
-    l = abs_custom(vec)
-    return vec/l
 
 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.
@@ -69,39 +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)
-
-GRID_SIZE = 10
-
-# Aufbau der Koordinaten
-# Das Zentrum des Spiegels hinten rechts bildet den Ursprung
-# Dann geht die x-Achse nach links und die y-Achse nach vorne
-
-# X, Y, Z
-source_orig = np.array([0, 20, 0])
-target_orig = np.array([0, 20, 0])
-
-# Strategie des Programms
-# 1. Iteration ueber jeden Spiegel
-# 2. Berechnung des Quellvektors und des Targetvektors fuer die Position des Spiegels
-# 3. Berechne 
-
-for x in range(4):
-    for y in range(2):
-        x_size = x * GRID_SIZE
-        y_size = y * GRID_SIZE
-
-        phi, theta = get_angles(source_orig - unit_x * x_size - unit_y * y_size, target_orig - unit_x * x_size - unit_y * y_size)
-
-        print(f"For grid ({x}, {y}), phi = {phi} and theta = {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}°"
+        )

justfile

@@ -0,0 +1,9 @@
+default: sim
+
+sim:
+	@echo "Starting the simulation!"
+	uv run python simulation.py
+
+test:
+	@echo "Try to run all the tests."
+	uv run python -m unittest discover -v

main.py

@@ -1,6 +0,0 @@
-def main():
-    print("Hello from solarmotor!")
-
-
-if __name__ == "__main__":
-    main()

objects/board.py

@@ -3,9 +3,13 @@ from adafruit_servokit import ServoKit
 class Board:
     MIN = 500
     MAX = 2500
+    COVER = 180
+
+    count = 0
 
     def __init__(self, channels=16, frequency=50):
         self.channels = channels
+        self.address = "" # For the future
         self.frequency = frequency
         self.kit = ServoKit(channels=channels, frequency=frequency)
 

objects/generic.py

@@ -0,0 +1,25 @@
+import numpy as np
+
+class MovingEntity:
+    """Embedded entity in the world with a position."""
+
+    def __init__(self, world):
+        self.world = world
+        self.pos = np.array((0.0, 0.0, 0.0))  # (x, y, z) in local untilted coordinates
+
+    def get_pos_rotated(self):
+        """Return position rotated by world's tilt around y-axis."""
+        return self.world.rotate_point_y(self.pos)
+
+    def move(self, dx=0, dy=0, dz=0):
+        self.pos = (self.pos[0] + dx, self.pos[1] + dy, self.pos[2] + dz)
+
+class Target(MovingEntity):
+    def __init__(self, world, pos=(0.0, 0.0, 0.0)):
+        super().__init__(world)
+        self.pos = np.array(pos) # Store everything in numpy
+
+class Source(MovingEntity):
+    def __init__(self, world, pos=(10.0, 10.0, 10.0)):
+        super().__init__(world)
+        self.pos = np.array(pos)

objects/mirror.py

@@ -0,0 +1,48 @@
+"""
+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
+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 # TODO: Fix this cyclic reference
+        self.cluster_x = cluster_x
+        self.cluster_y = cluster_y
+
+        # Store the motors
+        # Need to get first the theta because
+        # of the ordeing of the cables on the board
+        self.motor_theta: Motor = Motor(self.world.board)
+        self.motor_phi: Motor = Motor(self.world.board)
+
+        # Position in un-tilted coordinate system
+        self.pos = np.array(
+            [cluster_x * self.world.grid_size, cluster_y * self.world.grid_size, 0.0]
+        )
+
+    def get_pos_rotated(self):
+        return self.world.rotate_point_y(self.pos)
+
+    def set_angle_from_source_target(self, source: Source, target: Target):
+        "Set the angles of a mirror from global source and target vectors."
+
+        rot_pos = self.get_pos_rotated()
+        rel_source = source.pos - rot_pos
+        rel_target = target.pos - rot_pos
+
+        phi, theta = get_angles(rel_source, rel_target)
+
+        # Update the angles based on the normals in rotated positions
+        self.motor_phi.set_angle(phi)
+        self.motor_theta.set_angle(theta)
+
+    def get_angles(self):
+        return self.motor_phi.angle, self.motor_theta.angle

objects/motor.py

@@ -1,29 +1,21 @@
 """Helpers for building moving mirrors."""
 
 from objects.board import Board
-import time
 
 class Motor:
     """Model a type of servo motor."""
 
-    # Default vaules for every motor
-    MAX_PULSE = 2500
-    MIN_PULSE = 500
-    COVERAGE = 180 # Total degree of freedom in degrees
     OFFSET = 0 # In degrees a constant to be added
     SCALE = 1 # Scaling
 
-    # Used for ids
-    count = 0
-
     def __init__(self, board: Board, angle=0):
         self.board: Board = board
-        self.id: int = Motor.count
+        self.id: int = Board.count
-        Motor.count += 1
+        Board.count += 1
 
         self.angle = angle
         self.offset = Motor.OFFSET # Fine grained controls over every motor
-        self.coverage = Motor.COVERAGE
+        self.coverage = Board.COVER
         self.scale = Motor.SCALE
 
         # Initialization
@@ -33,11 +25,6 @@ class Motor:
     def set(self):
         self.board.kit.servo[self.id].angle = self.angle * self.scale + self.offset
 
-    def safe_set_angle(angle=0, sleep=0.01, offset=1):
-        self.board.kit.servo[NUM].angle = angle + offset
-        time.sleep(sleep)
-        kit.servo[NUM].angle = angle
-
     def set_angle(self, angle):
         self.angle = min(self.coverage, max(0, angle)) # Double check bad
         self.set()
@@ -47,5 +34,5 @@ class Motor:
 
     def inc(self, inc):
         self.angle += inc
-        self.angle = min(max(self.angle, 0), Motor.COVERAGE) # Clip
+        self.angle = min(max(self.angle, 0), Board.COVER) # Clip
         self.set()

objects/solar.py

@@ -1,111 +0,0 @@
-"""Alle gemessenen Koordinaten der Quelle und der Sonne haben den Ursprung in der linken unteren Ecke des Clusters in einem rechtshaendigen flachen System.
-"""
-
-import math
-import objects.motor as motor
-
-class MovingEntity:
-    """Embedded entity in the world with a position."""
-
-    def __init__(self, world):
-        self.world = world
-        self.pos = (0.0, 0.0, 0.0)  # (x, y, z) in local untilted coordinates
-
-    def get_pos_rotated(self):
-        """Return position rotated by world's tilt around y-axis."""
-        return self.world.rotate_point_y(self.pos)
-
-    def move(self, dx=0, dy=0, dz=0):
-        self.pos = (self.pos[0] + dx, self.pos[1] + dy, self.pos[2] + dz)
-
-class Target(MovingEntity):
-    def __init__(self, world, pos=(0.0, 0.0, 0.0)):
-        super().__init__(world)
-        self.pos = pos
-
-class Source(MovingEntity):
-    def __init__(self, world, pos=(10.0, 10.0, 10.0)):
-        super().__init__(world)
-        self.pos = pos
-
-class Mirror:
-    def __init__(self, world, cluster_x=0, cluster_y=0):
-        self.world = world
-        self.cluster_x = cluster_x
-        self.cluster_y = cluster_y
-
-        # Store the motors
-        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)
-
-    def get_pos_rotated(self):
-        return self.world.rotate_point_y(self.pos)
-
-    def set_angle_from_source_target(self, source: Source, target: Target):
-        # Get rotated positions
-        pos_mirror = self.get_pos_rotated()
-        pos_source = source.get_pos_rotated()
-        pos_target = target.get_pos_rotated()
-
-        v_source = (
-            pos_source[0] - pos_mirror[0],
-            pos_source[1] - pos_mirror[1],
-            pos_source[2] - pos_mirror[2],
-        )
-        v_target = (
-            pos_target[0] - pos_mirror[0],
-            pos_target[1] - pos_mirror[1],
-            pos_target[2] - pos_mirror[2],
-        )
-
-        def normalize(v):
-            length = math.sqrt(v[0] ** 2 + v[1] ** 2 + v[2] ** 2)
-            if length == 0:
-                return (0, 0, 0)
-            return (v[0] / length, v[1] / length, v[2] / length)
-
-        v_source_n = normalize(v_source)
-        v_target_n = normalize(v_target)
-
-        mirror_normal = (
-            v_source_n[0] + v_target_n[0],
-            v_source_n[1] + v_target_n[1],
-            v_source_n[2] + v_target_n[2],
-        )
-        mirror_normal = normalize(mirror_normal)
-
-        # Update the angles based on the normals in rotated positions
-        self.yaw.set_angle(math.degrees(math.atan2(mirror_normal[0], mirror_normal[2])))
-        self.pitch.set_angle(math.degrees(math.atan2(mirror_normal[1], mirror_normal[2])))
-
-    def get_angles(self):
-        return self.yaw.angle, self.pitch.angle
-
-class World:
-    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
-        self.mirrors = []
-
-    def add_mirror(self, mirror):
-        self.mirrors.append(mirror)
-
-    def update_mirrors_from_source_target(self, source: Source, target: Target):
-        for mirror in self.mirrors:
-            mirror.set_angle_from_source_target(source, target)
-
-    def rotate_point_y(self, point):
-        """Rotate a point around the y-axis by the world's tilt angle."""
-        x, y, z = point
-        theta = math.radians(self.tilt_deg)
-        cos_t = math.cos(theta)
-        sin_t = math.sin(theta)
-        x_rot = x * cos_t + z * sin_t
-        y_rot = y
-        z_rot = -x * sin_t + z * cos_t
-        return (x_rot, y_rot, z_rot)

objects/world.py

@@ -0,0 +1,56 @@
+"""
+Alle gemessenen Koordinaten der Quelle und der Sonne haben den Ursprung in der rechten
+oberen Ecke des Clusters in einem rechtshaendigen flachen System.
+
+Achsen in der Welt mit der z-Achse nach oben.
+Alles in cm gemessen.
+Der phi Winkel wird zur x-Achse gemessen.
+Der thetha Winkel wird zur z-Achse gemessen.
+
+So sind y und z Koordinaten immer positiv.
+
+
+
+x  (2,0)  (1,0)  (0,0)
+<-----S----S----S O:z
+                |
+      S    S    S (0,1)
+                |
+                v y
+
+"""
+
+from objects.generic import Source, Target
+from objects.mirror import Mirror
+
+import numpy as np
+
+import math
+
+
+class World:
+    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
+        self.mirrors: list[Mirror] = []
+
+    def add_mirror(self, mirror):
+        self.mirrors.append(mirror)
+
+    def update_mirrors_from_source_target(self, source: Source, target: Target):
+        for mirror in self.mirrors:
+            mirror.set_angle_from_source_target(source, target)
+
+    def rotate_point_y(self, point):
+        """Rotate a point around the y-axis by the world's tilt angle."""
+        x, y, z = point
+        theta = math.radians(self.tilt_deg)
+        cos_t = np.cos(theta)
+        sin_t = np.sin(theta)
+        x_rot = x * cos_t + z * sin_t
+        y_rot = y
+        z_rot = -x * sin_t + z * cos_t
+        return np.array([x_rot, y_rot, z_rot])
+  

pyproject.toml

@@ -1,7 +1,7 @@
 [project]
 name = "solarmotor"
-version = "0.1.0"
+version = "0.1.1"
-description = "Add your description here"
+description = "Binary to simulate mirrors"
 readme = "README.md"
 requires-python = ">=3.13"
 dependencies = [
@@ -27,6 +27,7 @@ dependencies = [
     "jedi-language-server==0.46.0",
     "lsprotocol==2025.0.0",
     "mypy-extensions==1.1.0",
+    "numpy>=2.4.1",
     "packaging==25.0",
     "parso==0.8.5",
     "pathspec==0.12.1",

shell.nix

@@ -1,13 +0,0 @@
-{ pkgs ? import <nixpkgs> {} }:
-
-# Simple python shell for all packages
-
-pkgs.mkShell {
-  buildInputs = with pkgs; [
-    (pkgs.python313.withPackages (ps: with ps; [
-      matplotlib
-      numpy
-      ty
-    ]))
-  ];
-}

simulation.py

@@ -1,56 +1,39 @@
+from helpers import print_status
 import time
-import math
 
-# Solar module for simulation of world
+from objects.generic import Source, Target
-import objects.solar as solar # Modeling of the world
+from objects.world import World
-
+from objects.mirror import Mirror
-from objects.motor import Motor # Small helper functions and constants
 from objects.board import Board
 
-STEP = 10
+# Solar module for simulation of world
 LOOP_DELAY = 0.005 # In seconds
 
 # Testing embedding the mirrors in the world
 board = Board()
-world = solar.World(board, tilt_deg=15)  # The world is tilted 15 degrees around y-axis
+world = World(board, tilt_deg=0)
 
-HEIGHT = 30
+source = Source(world, pos=(0, 50, 0))
+target = Target(world, pos=(0, 50, 0))
 
-source = solar.Source(world, pos=(30, 50, 100))
+# Create mirrors in a grid
-target = solar.Target(world, pos=(0, 0, 40))
+for x in range(2):
-
+    for y in range(1):
-# Create mirrors in a 3x2 grid
+        mirror = Mirror(world, cluster_x=x, cluster_y=y)
-for x in range(3):
-    for y in range(2):
-        mirror = solar.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):
-        pitch, yaw = mirror.get_angles()
-        print(f"Mirror {i} ({mirror.cluster_x}, {mirror.cluster_y}) angles -> pitch: {pitch:.2f}°, yaw: {yaw:.2f}°")
-
-print_status()
-
-a = 1
-t = time.time()
-
 # Main
 try:
     while True:
-        source.move(0, 0, 0.1)
+        #source.move(0, 0, 0.5)
         #source.move(10 * math.sin(a * t), 10 * math.cos(a * t))
-        print(source.pos)
+        #print(source.pos)
-        print(target.pos)
+        #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

tests/__init__.py

@@ -0,0 +1 @@
+

tests/test_calculator.py

@@ -0,0 +1,37 @@
+import unittest
+import numpy as np
+import calculator
+
+
+class TestCalculator(unittest.TestCase):
+    def test_proj(self):
+        vec = np.array([123, 325, 1])
+        self.assertEqual(np.array([123, 0, 0]).all(), calculator.proj(vec, 1).all())
+
+        vec = np.array([234, -2134, 12])
+        self.assertEqual(np.array([-2134, 0, 0]).all(), calculator.proj(vec, 2).all())
+
+        vec = np.array([-21, 34, 82])
+        self.assertEqual(np.array([0, 0, 82]).all(), calculator.proj(vec, 3).all())
+
+    def test_rotate(self):
+        vec = np.array([1, 0, 0])
+        self.assertEqual(np.array([0, 1, 0]).all(), calculator.rotate(vec).all())
+
+    def test_agl(self):
+        vec1 = np.array([1, 0, 0])
+        vec2 = np.array([1, 0, 0])
+        self.assertEqual(0, calculator.agl(vec1, vec2))
+
+        vec1 = np.array([1, 0, 0])
+        vec2 = np.array([0, 1, 0])
+        self.assertEqual(90, calculator.agl(vec1, vec2))
+
+    def test_get_angles(self):
+        source = np.array([0, 50, 0])
+        target = np.array([0, 50, 0])
+        self.assertEqual((90, 90), calculator.get_angles(source, target))
+
+
+if __name__ == "__main__":
+    unittest.main()

uv.lock

@@ -305,6 +305,56 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/79/7b/2c79738432f5c924bef5071f933bcc9efd0473bac3b4aa584a6f7c1c8df8/mypy_extensions-1.1.0-py3-none-any.whl", hash = "sha256:1be4cccdb0f2482337c4743e60421de3a356cd97508abadd57d47403e94f5505", size = 4963, upload-time = "2025-04-22T14:54:22.983Z" },
 ]
 
+[[package]]
+name = "numpy"
+version = "2.4.1"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/24/62/ae72ff66c0f1fd959925b4c11f8c2dea61f47f6acaea75a08512cdfe3fed/numpy-2.4.1.tar.gz", hash = "sha256:a1ceafc5042451a858231588a104093474c6a5c57dcc724841f5c888d237d690", size = 20721320, upload-time = "2026-01-10T06:44:59.619Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/04/68/732d4b7811c00775f3bd522a21e8dd5a23f77eb11acdeb663e4a4ebf0ef4/numpy-2.4.1-cp313-cp313-macosx_10_13_x86_64.whl", hash = "sha256:d797454e37570cfd61143b73b8debd623c3c0952959adb817dd310a483d58a1b", size = 16652495, upload-time = "2026-01-10T06:43:06.283Z" },
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 version = "25.0"
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     { name = "mypy-extensions" },
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