The "castle clock", an astronomical clock invented by Al-Jazari in 1206, is considered to be the earliest programmable analog computer.[5] It displayed the zodiac, the solar and lunar orbits, a crescent moon-shaped pointer travelling across a gateway causing automatic doors to open every hour,[6][7] and five robotic musicians who played music when struck by levers operated by a camshaft attached to a water wheel. The length of day and night could be re-programmed to compensate for the changing lengths of day and night throughout the year.[5]The Renaissance saw a re-invigoration of European mathematics and engineering. Wilhelm Schickard's 1623 device was the first of a number of mechanical calculators constructed by European engineers, but none fit the modern definition of a computer, because they could not be programmed.