Justfile and add numpy

.python-version

@@ -0,0 +1 @@
+3.13

README.md

@@ -13,3 +13,35 @@ 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
+https://ben.akrin.com/raspberry-pi-servo-jitter/ Blog post how to fix jittering
+```
+
+Local address
+inet6 fe80::7e2c:ada5:5de7:9a2c/64
+
+## Cables
+
+From right to left
+
+```
+..............................
+.        ----------       1x .
+.                         2x .
+.                         3x .
+.                         xx .
+.            ooooo        4x .
+.            ooooo        xx .
+.            ooooo        xx .
+.                         xx .
+.                         xx .
+.                            .
+
+1: white
+2: purlple
+3: yellow
+4: black
+```

clock.py

@@ -1,61 +0,0 @@
-import pigpio
-import RPi.GPIO as GPIO
-import time
-import os
-
-from motor import Motor # Models the motor
-
-# Constants
-SERVO1_PIN = 18
-SERVO2_PIN = 19
-
-BUTTON1_FWD = 5
-BUTTON1_BWD = 6
-BUTTON2_FWD = 17
-BUTTON2_BWD = 27
-SHUTDOWN_BTN = 26
-
-STEP = 2
-LOOP_DELAY = 0.3 # In seconds
-
-# Local pi
-pi = pigpio.pi()
-if not pi:
-    os.exit()
-
-# Setup the controls
-GPIO.setmode(GPIO.BCM)
-for btn in [BUTTON1_FWD, BUTTON1_BWD, BUTTON2_FWD, BUTTON2_BWD, SHUTDOWN_BTN]:
-    GPIO.setup(btn, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
-
-# Setup motors
-m1 = Motor(pi, SERVO1_PIN)
-m2 = Motor(pi, SERVO2_PIN)
-
-# Main
-try:
-    while True:
-        # Inputs shutdown
-        if GPIO.input(SHUTDOWN_BTN) == GPIO.HIGH:
-            os.system("sudo shutdown now")
-
-        # Motors
-        if GPIO.input(BUTTON1_FWD):
-            m1.inc(STEP)
-        elif GPIO.input(BUTTON1_BWD):
-            m1.inc(-STEP)
-        if GPIO.input(BUTTON2_FWD):
-            m2.inc(STEP)
-        elif GPIO.input(BUTTON2_BWD):
-            m2.inc(-STEP)
-
-        time.sleep(LOOP_DELAY)
-
-except KeyboardInterrupt:
-    pass
-
-finally:
-    del m1
-    del m2
-    pi.stop()
-    GPIO.cleanup()

driver.py

@@ -1,41 +0,0 @@
-# https://learn.adafruit.com/16-channel-pwm-servo-driver/python-circuitpython
-
-import time
-from adafruit_servokit import ServoKit
-
-MIN = 550
-MAX = 2450
-CHANNELS = 16
-
-kit = ServoKit(channels=CHANNELS, frequency=50)
-
-for i in range(CHANNELS):
-    kit.servo[i].angle = 0
-
-time.sleep(2)
-
-# Testing the accuracy of the lib
-num = 14
-
-kit.servo[num].angle = 0
-time.sleep(2)
-
-kit.servo[num].angle = 90
-time.sleep(2)
-
-kit.servo[num].angle = 30
-time.sleep(2)
-
-kit.servo[num].angle = 120
-time.sleep(2)
-
-kit.servo[num].angle = 60
-time.sleep(2)
-
-kit.servo[num].angle = 150
-time.sleep(1.5)
-
-kit.servo[num].angle = 90
-time.sleep(1.5)
-
-kit.servo[num].angle = 180

gpt-servo.py

@@ -1,96 +0,0 @@
-import time
-from adafruit_servokit import ServoKit
-
-class MultiSmoothServoController:
-    def __init__(self, channels=16, min_pulse=500, max_pulse=2500):
-        self.kit = ServoKit(channels=channels)
-        self.channels = channels
-        self.min_pulse = min_pulse
-        self.max_pulse = max_pulse
-        
-        # Track last angle and pulse per servo
-        self._last_angles = [None] * channels
-        self._last_pulses = [None] * channels
-        
-        # Set pulse width range for all channels upfront
-        for ch in range(channels):
-            self.kit.servo[ch].set_pulse_width_range(min_pulse, max_pulse)
-    
-    def angle_to_pulse(self, angle):
-        """Convert angle (0-180) to pulse width in microseconds"""
-        return int(self.min_pulse + (self.max_pulse - self.min_pulse) * angle / 180)
-    
-    def set_angle(self, channel, angle):
-        """Set angle for a single servo channel, avoid jitter"""
-        if channel < 0 or channel >= self.channels:
-            raise ValueError(f"Channel must be between 0 and {self.channels - 1}")
-        if angle < 0 or angle > 180:
-            raise ValueError("Angle must be between 0 and 180")
-        
-        pulse = self.angle_to_pulse(angle)
-        if self._last_angles[channel] != angle or self._last_pulses[channel] != pulse:
-            self.kit.servo[channel].pulse_width = pulse
-            self._last_angles[channel] = angle
-            self._last_pulses[channel] = pulse
-    
-    def smooth_move(self, channel, start_angle, end_angle, step=1, delay=0.02):
-        """Smoothly move one servo from start_angle to end_angle"""
-        if start_angle < end_angle:
-            angles = range(start_angle, end_angle + 1, step)
-        else:
-            angles = range(start_angle, end_angle - 1, -step)
-        
-        for angle in angles:
-            self.set_angle(channel, angle)
-            time.sleep(delay)
-    
-    def smooth_move_all(self, start_angles, end_angles, step=1, delay=0.02):
-        """
-        Smoothly move all servos from their respective start_angles to end_angles.
-        Both start_angles and end_angles should be lists/tuples of length = number of channels.
-        """
-        if len(start_angles) != self.channels or len(end_angles) != self.channels:
-            raise ValueError("start_angles and end_angles must have length equal to number of channels")
-        
-        max_steps = 0
-        # Calculate how many steps each servo needs and track max
-        steps_per_servo = []
-        for start, end in zip(start_angles, end_angles):
-            steps = abs(end - start) // step
-            steps_per_servo.append(steps)
-            if steps > max_steps:
-                max_steps = steps
-        
-        for i in range(max_steps + 1):
-            for ch in range(self.channels):
-                start = start_angles[ch]
-                end = end_angles[ch]
-                
-                if start < end:
-                    angle = min(start + i * step, end)
-                else:
-                    angle = max(start - i * step, end)
-                
-                self.set_angle(ch, angle)
-            time.sleep(delay)
-
-    def stop_all(self):
-        """Stop pulses to all servos (optional)"""
-        for ch in range(self.channels):
-            self.kit.servo[ch].pulse_width = 0
-            self._last_angles[ch] = None
-            self._last_pulses[ch] = None
-
-controller = MultiSmoothServoController()
-
-# Move servo channel 2 smoothly from 0 to 180 degrees
-controller.smooth_move(channel=2, start_angle=0, end_angle=180)
-
-# Smoothly move multiple servos simultaneously:
-start_positions = [0] * 16          # all servos at 0°
-end_positions = [90, 45, 180, 0, 30, 60, 90, 120, 150, 180, 0, 90, 45, 135, 180, 0]
-
-controller.smooth_move_all(start_positions, end_positions)
-
-# Stop all servos
-controller.stop_all()

host.txt

@@ -1,3 +0,0 @@
-Local addresses
-inet 169.254.217.237/16
-inet6 fe80::d89b:cecc:9c55:e1c3/64

justfile

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

links.txt

@@ -1,3 +0,0 @@
-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
-https://ben.akrin.com/raspberry-pi-servo-jitter/ Blog post how to fix jittering

main.py

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

objects/board.py

@@ -0,0 +1,15 @@
+from adafruit_servokit import ServoKit
+
+class Board:
+    MIN = 500
+    MAX = 2500
+
+    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):
+            self.kit.servo[i].set_pulse_width_range(Board.MIN, Board.MAX)
+            self.kit.servo[i].actuation_range = 180
+            self.kit.servo[i].angle = 0

objects/motor.py

@@ -1,10 +1,7 @@
 """Helpers for building moving mirrors."""
 
-from adafruit_servokit import ServoKit
+from objects.board import Board
-
+import time
-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 +10,41 @@ class Motor:
     MAX_PULSE = 2500
     MIN_PULSE = 500
     COVERAGE = 180 # Total degree of freedom in degrees
-    AREA = MAX_PULSE - MIN_PULSE
+    OFFSET = 0 # In degrees a constant to be added
-    OFFSET = 2 # 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: Board, angle=0):
-        self.id = Motor.count; Motor.count += 1
+        self.board: Board = board
-        self.pi = pi # Local pi instance
+        self.id: int = Motor.count
+        Motor.count += 1
 
-        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):
+        self.board.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

objects/solar.py

@@ -0,0 +1,170 @@
+"""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
+import numpy as np
+
+# Einheitsvektoren
+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:
+        case 1:
+            ax = unit_x
+        case 2:
+            ax = unit_y
+        case 3:
+            ax = unit_z
+        case _:
+            ax = unit_x
+    return ax
+
+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
+    k = get_axis(axis)
+
+    return (
+        v * np.cos(angle)
+        + np.cross(k, v) * np.sin(angle)
+        + 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)
+
+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.
+       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)
+
+    source_phi = agl(source_planar, unit_x)
+    target_phi = agl(target_planar, unit_x)
+
+    source_theta = agl(rotate(source, 90 - source_phi, 3), unit_z)
+    target_theta = agl(rotate(target, 90 - target_phi, 3), unit_z)
+
+    phi = None
+    theta = None
+
+    theta_diff = None
+    phi_diff = agl(source_planar, target_planar)
+    if source_phi < target_phi:
+        rota = rotate(source_planar, phi_diff, 3)
+        theta_diff = agl(rota, target)
+        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
+
+    if source_theta < target_theta:
+        theta = target_theta + theta_diff/2
+    else:
+        theta = source_theta + theta_diff/2
+
+    return (phi, theta)
+
+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.phi = motor.Motor(self.world.board)
+        self.theta = 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):
+        "Set the angles of a mirror from global source and target vectors."
+
+        rot_pos = np.array([self.get_pos_rotated()])
+        rel_source = np.array([source.pos]) - rot_pos
+        rel_target = np.array([target.pos]) - rot_pos
+
+        phi, theta = get_angles(rel_source, rel_target)
+
+        # Update the angles based on the normals in rotated positions
+        self.phi.set_angle(phi)
+        self.theta.set_angle(theta)
+
+    def get_angles(self):
+        return self.phi.angle, self.theta.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)

pyproject.toml

@@ -0,0 +1,49 @@
+[project]
+name = "solarmotor"
+version = "0.1.0"
+description = "Add your description here"
+readme = "README.md"
+requires-python = ">=3.13"
+dependencies = [
+    "adafruit-blinka==8.66.2",
+    "adafruit-circuitpython-busdevice==5.2.14",
+    "adafruit-circuitpython-connectionmanager==3.1.6",
+    "adafruit-circuitpython-motor==3.4.18",
+    "adafruit-circuitpython-pca9685==3.4.20",
+    "adafruit-circuitpython-register==1.11.1",
+    "adafruit-circuitpython-requests==4.1.14",
+    "adafruit-circuitpython-servokit==1.3.22",
+    "adafruit-circuitpython-typing==1.12.2",
+    "adafruit-platformdetect==3.84.1",
+    "adafruit-pureio==1.1.11",
+    "attrs==25.4.0",
+    "binho-host-adapter==0.1.6",
+    "black==25.12.0",
+    "cattrs==25.3.0",
+    "click==8.3.1",
+    "docstring-to-markdown==0.17",
+    "importlib-metadata==8.7.0",
+    "jedi==0.19.2",
+    "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",
+    "platformdirs==4.5.1",
+    "pluggy==1.6.0",
+    "pyftdi==0.57.1",
+    "pygls==2.0.0",
+    "pyserial==3.5",
+    "python-lsp-jsonrpc==1.1.2",
+    "python-lsp-server==1.14.0",
+    "pytokens==0.3.0",
+    "pyusb==1.3.1",
+    "rpi-gpio==0.7.1",
+    "ruff>=0.14.9",
+    "sysv-ipc==1.1.0",
+    "typing-extensions==4.15.0",
+    "ujson==5.11.0",
+    "zipp==3.23.0",
+]

shell.nix

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

simple-angle.py

@@ -0,0 +1,107 @@
+import numpy as np
+
+# Einheitsvektoren
+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:
+        case 1:
+            ax = unit_x
+        case 2:
+            ax = unit_y
+        case 3:
+            ax = unit_z
+        case _:
+            ax = unit_x
+    return ax
+
+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
+    k = get_axis(axis)
+
+    return (
+        v * np.cos(angle)
+        + np.cross(k, v) * np.sin(angle)
+        + 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)
+
+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.
+       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)
+
+    source_phi = agl(source_planar, unit_x)
+    target_phi = agl(target_planar, unit_x)
+
+    source_theta = agl(rotate(source, 90 - source_phi, 3), unit_z)
+    target_theta = agl(rotate(target, 90 - target_phi, 3), unit_z)
+
+    phi = None
+    theta = None
+
+    theta_diff = None
+    phi_diff = agl(source_planar, target_planar)
+    if source_phi < target_phi:
+        rota = rotate(source_planar, phi_diff, 3)
+        theta_diff = agl(rota, target)
+        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
+
+    if source_theta < target_theta:
+        theta = target_theta + theta_diff/2
+    else:
+        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}.")

simulation.py

@@ -1,107 +1,56 @@
-import pigpio
-import RPi.GPIO as GPIO
 import time
+import math
 
 # Solar module for simulation of world
-import solar # Modeling of the world
+import objects.solar as solar # Modeling of the world
-from motor import Motor # Small helper functions and constants
 
-# Constants
+from objects.motor import Motor # Small helper functions and constants
-SERVO1_PIN = 18
+from objects.board import Board
-SERVO2_PIN = 19
 
-INIT_PULSE = 0
 STEP = 10
-LOOP_DELAY = 0.01 # In seconds
+LOOP_DELAY = 0.005 # 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=0)
 
 HEIGHT = 30
 
-source = solar.Source(world, pos=(0, 0, 30))
+source = solar.Source(world, pos=(0, 50, 0))
-target = solar.Target(world, pos=(20, 0, 30))
+target = solar.Target(world, pos=(0, 50, 0))
 
-# Create mirrors in a 9x9 grid
+# Create mirrors in a 3x2 grid
-for x in range(3):
+for x in range(4):
-    for y 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)
 
-for i, mirror in enumerate(world.mirrors):
+def print_status():
-    pitch, yaw = mirror.get_angles()
+    for i, mirror in enumerate(world.mirrors):
-    print(f"Mirror {i} ({mirror.cluster_x}, {mirror.cluster_y}) angles -> pitch: {pitch:.2f}°, yaw: {yaw:.2f}°")
+        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)
 
+print_status()
 
+a = 1
+t = time.time()
 
 # Main
 try:
     while True:
-        # Shutdown
+        source.move(0, 0, 0.1)
-        if GPIO.input(SHUTDOWN_BTN) == GPIO.HIGH:
+        #source.move(10 * math.sin(a * t), 10 * math.cos(a * t))
-            os.system("sudo shutdown now")
+        print(source.pos)
+        print(target.pos)
 
-        pulse1 = angle_to_pulse(angle)
+        world.update_mirrors_from_source_target(source, target)
-        time.sleep(3)
+        print_status()
-        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)
 
+        t = time.time()
+
 except KeyboardInterrupt:
     pass
-
-finally:
-    pi.set_servo_pulsewidth(SERVO1_PIN, 0)
-    pi.set_servo_pulsewidth(SERVO2_PIN, 0)
-    pi.stop()
-    GPIO.cleanup()

solar.py

@@ -1,107 +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
-
-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)
-
-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, pitch_pin, yaw_pin, 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.pi, yaw_pin)
-        self.pitch = motor.Motor(self.world.pi, pitch_pin)
-
-        # 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, pi, tilt_deg=0.0):
-        self.pi = pi
-
-        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)

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)

uv.lock

@@ -0,0 +1,673 @@
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+revision = 3
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+    { name = "adafruit-platformdetect" },
+    { name = "adafruit-pureio" },
+    { name = "binho-host-adapter" },
+    { name = "pyftdi" },
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+
+[[package]]
+name = "adafruit-circuitpython-busdevice"
+version = "5.2.14"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "adafruit-blinka" },
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+[[package]]
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