Formatting

.gitignore

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

.python-version

@@ -0,0 +1 @@
+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

@@ -0,0 +1,82 @@
+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 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) / (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."""
+    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)

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

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

@@ -1,25 +1,21 @@
 """Helpers for building moving mirrors."""
 
+from objects.board import Board
+
 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
+    def __init__(self, board: Board, angle=0):
-    count = 0
+        self.board: Board = board
-
+        self.id: int = Board.count
-    def __init__(self, board, angle=0):
+        Board.count += 1
-        self.board = board
-        self.id = Motor.count; Motor.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
@@ -29,11 +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):
-        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()
@@ -43,5 +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

@@ -0,0 +1,49 @@
+[project]
+name = "solarmotor"
+version = "0.1.1"
+description = "Binary to simulate mirrors"
+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",
+]

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

@@ -0,0 +1,673 @@
+version = 1
+revision = 3
+requires-python = ">=3.13"
+
+[[package]]
+name = "adafruit-blinka"
+version = "8.66.2"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "adafruit-circuitpython-typing" },
+    { name = "adafruit-platformdetect" },
+    { name = "adafruit-pureio" },
+    { name = "binho-host-adapter" },
+    { name = "pyftdi" },
+    { name = "sysv-ipc", marker = "platform_machine != 'mips' and sys_platform == 'linux'" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/35/2d/7469c26dbeade72709096922db34a75fecb47c6953dba0cd4c14ee2b3b45/adafruit_blinka-8.66.2.tar.gz", hash = "sha256:35f72589aa45d8738922367753f5588700b043b35611510d8efbe818d1a355fd", size = 268839, upload-time = "2025-09-27T20:53:57.753Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/70/c8/49ab498e87d04977a0c706af25825c5051daf2553b41c5b10eb7e9e8b19e/adafruit_blinka-8.66.2-py3-none-any.whl", hash = "sha256:93cfd6df6c523bc1312b731bdb4d51711d3ec6e468f18c8d40e09b7339bb2574", size = 399931, upload-time = "2025-09-27T20:53:56.014Z" },
+]
+
+[[package]]
+name = "adafruit-circuitpython-busdevice"
+version = "5.2.14"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "adafruit-blinka" },
+    { name = "adafruit-circuitpython-typing" },
+]
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