progress on single shared light

main.gd

@@ -2,18 +2,21 @@ extends Node3D
 
 @onready var lights: Lights = %Lights
 @onready var slider: HSlider = %HSlider
-@onready var networked_lights: Lights = %NetworkedLights
 
 @export var light_rotation: float = 0.0
+@export var light_delta: float = 0.0
 @export var color_gradient: Gradient
 
+var remote_light_rotation: float = 0.0
+var remote_light_delta: float = 0.0
+
 var peer: PacketPeerUDP
 
 func _ready():
 	slider.value_changed.connect(set_local_light_rotation)
 	peer = PacketPeerUDP.new()
 	peer.bind(4433)
-	peer.set_dest_address("rpi", 4444)
+	peer.set_dest_address("rpi1", 4444)
 	
 
 func send_data(data: Dictionary) -> void:
@@ -46,11 +49,21 @@ func set_local_light_rotation(value: float) -> void:
 		send_data({"value": value})
 		return
 
+	error_correction = 0.
+
 	lights.expected_rotation_delta = diff
+	light_delta = diff
 	light_rotation = value
 	send_data({"value": value, "delta": diff})
 
 func _process(_delta):
+	var joystick_x = Input.get_joy_axis(0, JOY_AXIS_LEFT_X)
+	var joystick_y = Input.get_joy_axis(0, JOY_AXIS_LEFT_Y)
+	var joystick = Vector2(joystick_x, joystick_y)
+	if joystick.length() > 0.2:
+		var angle = (atan2(joystick_y, joystick_x) / TAU) + 0.25
+		angle = wrapf(angle, 0, 1)
+		set_local_light_rotation(angle)
 	if peer.get_available_packet_count() > 0:
 		var array_bytes = peer.get_packet()
 		var packet_string = array_bytes.get_string_from_ascii()
@@ -58,8 +71,8 @@ func _process(_delta):
 		if json != null:
 			var value = json.value
 			var delta = json.delta
-			networked_lights.expected_rotation_delta = delta
+			# networked_lights.expected_rotation_delta = delta
 			
-			var polarized_value := pingpong(value * 4, 1)
-			networked_lights.light_intensity = 1.0 - polarized_value
-			networked_lights.light_color = color_gradient.sample(value)
+			# var polarized_value := pingpong(value * 4, 1)
+			# networked_lights.light_intensity = 1.0 - polarized_value
+			# networked_lights.light_color = color_gradient.sample(value)

main.tscn

@@ -32,7 +32,6 @@ color_gradient = SubResource("Gradient_h2yge")
 
 [node name="Plane" type="MeshInstance3D" parent="."]
 unique_name_in_owner = true
-transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -1, 0, 0)
 mesh = SubResource("CylinderMesh_0xm2m")
 surface_material_override/0 = SubResource("StandardMaterial3D_7dm0k")
 
@@ -45,26 +44,11 @@ light_count = 20
 light_radius = 0.7
 light_template = ExtResource("2_0xm2m")
 
-[node name="NetworkedPlane" type="MeshInstance3D" parent="."]
-unique_name_in_owner = true
-transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 1, 0, 0)
-mesh = SubResource("CylinderMesh_0xm2m")
-surface_material_override/0 = SubResource("StandardMaterial3D_7dm0k")
-
-[node name="NetworkedLights" type="Marker3D" parent="NetworkedPlane"]
-unique_name_in_owner = true
-transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.5, 0)
-gizmo_extents = 0.7
-script = ExtResource("1_ig7tw")
-light_count = 20
-light_radius = 0.7
-light_template = ExtResource("2_0xm2m")
-
 [node name="WorldEnvironment" type="WorldEnvironment" parent="."]
 environment = SubResource("Environment_0xm2m")
 
 [node name="Camera3D" type="Camera3D" parent="."]
-transform = Transform3D(1, 0, 0, 0, -4.371139e-08, 1, 0, -1, -4.371139e-08, 0, 2, 0)
+transform = Transform3D(1, 0, 0, 0, -4.371139e-08, 1, 0, -1, -4.371139e-08, 0, 1.4683123, 0)
 
 [node name="HSlider" type="HSlider" parent="."]
 unique_name_in_owner = true

project.godot

@@ -15,6 +15,19 @@ run/main_scene="uid://bfysabo18nycq"
 config/features=PackedStringArray("4.5", "Forward Plus")
 config/icon="res://icon.svg"
 
+[input]
+
+forward={
+"deadzone": 0.2,
+"events": [Object(InputEventJoypadMotion,"resource_local_to_scene":false,"resource_name":"","device":-1,"axis":1,"axis_value":-1.0,"script":null)
+]
+}
+right={
+"deadzone": 0.2,
+"events": [Object(InputEventJoypadMotion,"resource_local_to_scene":false,"resource_name":"","device":-1,"axis":0,"axis_value":1.0,"script":null)
+]
+}
+
 [rendering]
 
 anti_aliasing/quality/msaa_2d=2

rpi/gdmath.py

@@ -30,4 +30,13 @@ def sample_color_gradient(t):
             color_a = colors_rgb[i]
             color_b = colors_rgb[i + 1]
             return tuple(int(lerp(color_a[j], color_b[j], local_t)) for j in range(3))
-    return colors_rgb[-1]
+    return colors_rgb[-1]
+def shortest_diff(old, new):
+    diff = old - new
+    wrapped_diff = (new + 1) - old
+    if abs(wrapped_diff) < abs(diff):
+        diff = -wrapped_diff
+    wrapped_diff = (old + 1) - new
+    if abs(wrapped_diff) < abs(diff):
+        diff = wrapped_diff
+    return diff

rpi/lights.py

@@ -23,3 +23,5 @@ class Lights:
             self.pixels[i] = new_color
         self.pixels.show()
         self.expected_rotation_delta = lerp(self.expected_rotation_delta, 0, delta * LIGHT_SLOWDOWN_SPEED)
+
+lights = Lights(pixels)

rpi/main.py

@@ -0,0 +1,73 @@
+import socket
+import time
+import json
+from lights import lights
+from stepper import stepper
+import gdmath
+from readangle import read_angle_f
+import threading
+
+UDP_HOST = "steamdeck"
+UDP_PORT_LOCAL = 4444
+UDP_PORT_NETWORKED = 4433
+
+sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+sock.bind(("", UDP_PORT_LOCAL))
+sock.setblocking(0)
+
+def send_json(data):
+    message = json.dumps(data).encode('utf-8')
+    sock.sendto(message, (UDP_HOST, UDP_PORT_NETWORKED))
+
+def receive_json():
+    try:
+        data, _ = sock.recvfrom(1024)
+        return json.loads(data.decode('utf-8'))
+    except BlockingIOError:
+        return None
+
+local_rotation = 0
+local_delta = 0
+remote_rotation = 0
+remote_delta = 0
+    
+def read_thread_fn():
+    global local_rotation, local_delta
+    while True:
+        old_rotation = local_rotation
+        local_rotation = read_angle_f()
+        local_delta = gdmath.shortest_diff(old_rotation, local_rotation)
+        send_json({"value": local_rotation, "delta": local_delta})
+
+def lights_fn():
+    global local_rotation, local_delta, remote_rotation, remote_delta
+    last_time = time.time()
+    delta = 1/60
+    while True:
+        lights.color = gdmath.sample_color_gradient(local_rotation + remote_rotation)
+        lights.expected_rotation_delta = local_delta
+        lights.process(delta)
+        current_time = time.time()
+        time.sleep(1/60)
+        delta = current_time - last_time
+        last_time = current_time
+
+def network_recv_fn():
+    global remote_rotation, remote_delta
+    while True:
+        data = receive_json()
+        if data:
+            remote_rotation = data["value"]
+            remote_delta = data["delta"]
+        time.sleep(0.01)
+
+read_thread = threading.Thread(target=read_thread_fn)
+read_thread.start()
+lights_thread = threading.Thread(target=lights_fn)
+lights_thread.start()
+network_thread = threading.Thread(target=network_recv_fn)
+network_thread.start()
+
+read_thread.join()
+lights_thread.join()
+network_thread.join()

rpi/readangle.py

@@ -0,0 +1,14 @@
+import smbus2
+
+# Define I2C address and bus
+AS5600_ADDR = 0x36
+ANGLE_REG = 0x0E
+
+bus = smbus2.SMBus(1)
+
+def read_angle_f():
+    # Read two bytes from the angle register
+    raw_data = bus.read_i2c_block_data(AS5600_ADDR, ANGLE_REG, 2)
+    angle = (raw_data[0] << 8) | raw_data[1]  # Combine MSB and LSB
+    angle = angle & 0x0FFF  # Mask to 12 bits
+    return (angle / 4096.0) # convert to 0-1

rpi/stepper.py

@@ -47,4 +47,22 @@ class StepperMotor:
             else:
                 self.single_step_back()
     def pos(self):
-        return self.current_step % self.step_count
+        return self.current_step % self.step_count
+    def fpos(self):
+        return (self.current_step % self.step_count) / self.step_count
+    
+    def single_step_towards(self, target_pos):
+        current_pos = self.pos()
+        # Determine shortest direction
+        # includes wrap-around (it's a circular motion motor)
+        diff = (target_pos - current_pos + self.step_count) % self.step_count
+        if diff > self.step_count / 2:
+            self.single_step_back()
+        else:
+            self.single_step()
+    def angle_to_pos(self, angle):
+        return int((angle % 360) / 360 * self.step_count)
+    def fpos_to_pos(self, fpos):
+        return int((fpos % 1) * self.step_count)
+    
+stepper = StepperMotor()