diff --git a/adafruit_drv2605.py b/adafruit_drv2605.py index f061d79..1db13c1 100644 --- a/adafruit_drv2605.py +++ b/adafruit_drv2605.py @@ -15,6 +15,12 @@ from adafruit_bus_device.i2c_device import I2CDevice +try: + from typing import Union + from busio import I2C +except ImportError: + pass + __version__ = "0.0.0-auto.0" __repo__ = "https://github.com/adafruit/Adafruit_CircuitPython_DRV2605.git" @@ -72,14 +78,18 @@ class DRV2605: - """TI DRV2605 haptic feedback motor driver module.""" + """TI DRV2605 haptic feedback motor driver module. + + :param I2C i2c: The board I2C object + :param int address: The I2C address + """ # Class-level buffer for reading and writing data with the sensor. # This reduces memory allocations but means the code is not re-entrant or # thread safe! _BUFFER = bytearray(2) - def __init__(self, i2c, address=_DRV2605_ADDR): + def __init__(self, i2c: I2C, address: int = _DRV2605_ADDR) -> None: self._device = I2CDevice(i2c, address) # Check chip ID is 3 or 7 (DRV2605 or DRV2605L). status = self._read_u8(_DRV2605_REG_STATUS) @@ -106,66 +116,66 @@ def __init__(self, i2c, address=_DRV2605_ADDR): self.library = LIBRARY_TS2200A self._sequence = _DRV2605_Sequence(self) - def _read_u8(self, address): + def _read_u8(self, address: int) -> int: # Read an 8-bit unsigned value from the specified 8-bit address. with self._device as i2c: self._BUFFER[0] = address & 0xFF i2c.write_then_readinto(self._BUFFER, self._BUFFER, out_end=1, in_end=1) return self._BUFFER[0] - def _write_u8(self, address, val): + def _write_u8(self, address: int, val: int) -> None: # Write an 8-bit unsigned value to the specified 8-bit address. with self._device as i2c: self._BUFFER[0] = address & 0xFF self._BUFFER[1] = val & 0xFF i2c.write(self._BUFFER, end=2) - def play(self): + def play(self) -> None: """Play back the select effect(s) on the motor.""" self._write_u8(_DRV2605_REG_GO, 1) - def stop(self): + def stop(self) -> None: """Stop vibrating the motor.""" self._write_u8(_DRV2605_REG_GO, 0) @property - def mode(self): + def mode(self) -> int: """ The mode of the chip. Should be a value of: - - MODE_INTTRIG: Internal triggering, vibrates as soon as you call + * ``MODE_INTTRIG``: Internal triggering, vibrates as soon as you call play(). Default mode. - - MODE_EXTTRIGEDGE: External triggering, edge mode. - - MODE_EXTTRIGLVL: External triggering, level mode. - - MODE_PWMANALOG: PWM/analog input mode. - - MODE_AUDIOVIBE: Audio-to-vibration mode. - - MODE_REALTIME: Real-time playback mode. - - MODE_DIAGNOS: Diagnostics mode. - - MODE_AUTOCAL: Auto-calibration mode. + * ``MODE_EXTTRIGEDGE``: External triggering, edge mode. + * ``MODE_EXTTRIGLVL``: External triggering, level mode. + * ``MODE_PWMANALOG``: PWM/analog input mode. + * ``MODE_AUDIOVIBE``: Audio-to-vibration mode. + * ``MODE_REALTIME``: Real-time playback mode. + * ``MODE_DIAGNOS``: Diagnostics mode. + * ``MODE_AUTOCAL``: Auto-calibration mode. See the datasheet for the meaning of modes beyond MODE_INTTRIG. """ return self._read_u8(_DRV2605_REG_MODE) @mode.setter - def mode(self, val): + def mode(self, val: int) -> None: if not 0 <= val <= 7: raise ValueError("Mode must be a value within 0-7!") self._write_u8(_DRV2605_REG_MODE, val) @property - def library(self): + def library(self) -> int: """ The library selected for waveform playback. Should be a value of: - - LIBRARY_EMPTY: Empty - - LIBRARY_TS2200A: TS2200 library A (the default) - - LIBRARY_TS2200B: TS2200 library B - - LIBRARY_TS2200C: TS2200 library C - - LIBRARY_TS2200D: TS2200 library D - - LIBRARY_TS2200E: TS2200 library E - - LIBRARY_LRA: LRA library + * ``LIBRARY_EMPTY``: Empty + * ``LIBRARY_TS2200A``: TS2200 library A (the default) + * ``LIBRARY_TS2200B``: TS2200 library B + * ``LIBRARY_TS2200C``: TS2200 library C + * ``LIBRARY_TS2200D``: TS2200 library D + * ``LIBRARY_TS2200E``: TS2200 library E + * ``LIBRARY_LRA``: LRA library See the datasheet for the meaning and description of effects in each library. @@ -173,28 +183,40 @@ def library(self): return self._read_u8(_DRV2605_REG_LIBRARY) & 0x07 @library.setter - def library(self, val): + def library(self, val: int) -> None: if not 0 <= val <= 6: raise ValueError("Library must be a value within 0-6!") self._write_u8(_DRV2605_REG_LIBRARY, val) @property - def sequence(self): + def sequence(self) -> "_DRV2605_Sequence": """List-like sequence of waveform effects. - Get or set an effect waveform for slot 0-7 by indexing the sequence - property with the slot number. A slot must be set to either an Effect() - or Pause() class. See the datasheet for a complete table of effect ID + Get or set an effect waveform for slot 0-6 by indexing the sequence + property with the slot number. A slot must be set to either an :class:`~Effect` + or :class:`~Pause` class. See the datasheet for a complete table of effect ID values and the associated waveform / effect. - E.g. 'slot_0_effect = drv.sequence[0]', 'drv.sequence[0] = Effect(88)' + E.g.: + .. code-block:: python + + # Getting the effect stored in a slot + slot_0_effect = drv.sequence[0] + + .. code-block:: python + + # Setting an Effect in the first sequence slot + drv.sequence[0] = Effect(88) """ return self._sequence - def set_waveform(self, effect_id, slot=0): + def set_waveform(self, effect_id: int, slot: int = 0) -> None: """Select an effect waveform for the specified slot (default is slot 0, but up to 8 effects can be combined with slot values 0 to 7). See the datasheet for a complete table of effect ID values and the associated waveform / effect. + + :param int effect_id: The effect ID of the waveform + :param int slot: The sequence slot to use """ if not 0 <= effect_id <= 123: raise ValueError("Effect ID must be a value within 0-123!") @@ -203,87 +225,96 @@ def set_waveform(self, effect_id, slot=0): self._write_u8(_DRV2605_REG_WAVESEQ1 + slot, effect_id) # pylint: disable=invalid-name - def use_ERM(self): + def use_ERM(self) -> None: """Use an eccentric rotating mass motor (the default).""" feedback = self._read_u8(_DRV2605_REG_FEEDBACK) self._write_u8(_DRV2605_REG_FEEDBACK, feedback & 0x7F) # pylint: disable=invalid-name - def use_LRM(self): + def use_LRM(self) -> None: """Use a linear resonance actuator motor.""" feedback = self._read_u8(_DRV2605_REG_FEEDBACK) self._write_u8(_DRV2605_REG_FEEDBACK, feedback | 0x80) class Effect: - """DRV2605 waveform sequence effect.""" + """DRV2605 waveform sequence effect. + + :param int effect_id: The ID number of the effect + """ - def __init__(self, effect_id): + def __init__(self, effect_id: int) -> None: self._effect_id = 0 # pylint: disable=invalid-name self.id = effect_id @property - def raw_value(self): + def raw_value(self) -> int: """Raw effect ID.""" return self._effect_id @property # pylint: disable=invalid-name - def id(self): + def id(self) -> int: """Effect ID.""" return self._effect_id @id.setter # pylint: disable=invalid-name - def id(self, effect_id): + def id(self, effect_id: int) -> None: """Set the effect ID.""" if not 0 <= effect_id <= 123: raise ValueError("Effect ID must be a value within 0-123!") self._effect_id = effect_id - def __repr__(self): + def __repr__(self) -> str: return "{}({})".format(type(self).__qualname__, self.id) class Pause: - """DRV2605 waveform sequence timed delay.""" + """DRV2605 waveform sequence timed delay. - def __init__(self, duration): + :param float duration: The duration of the pause in seconds + """ + + def __init__(self, duration: float) -> None: # Bit 7 must be set for a slot to be interpreted as a delay self._duration = 0x80 self.duration = duration @property - def raw_value(self): + def raw_value(self) -> int: """Raw pause duration.""" return self._duration @property - def duration(self): + def duration(self) -> float: """Pause duration in seconds.""" # Remove wait time flag bit and convert duration to seconds return (self._duration & 0x7F) / 100.0 @duration.setter - def duration(self, duration): + def duration(self, duration: float) -> None: """Sets the pause duration in seconds.""" if not 0.0 <= duration <= 1.27: raise ValueError("Pause duration must be a value within 0.0-1.27!") # Add wait time flag bit and convert duration to centiseconds self._duration = 0x80 | round(duration * 100.0) - def __repr__(self): + def __repr__(self) -> str: return "{}({})".format(type(self).__qualname__, self.duration) class _DRV2605_Sequence: - """Class to enable List-like indexing of the waveform sequence slots.""" + """Class to enable List-like indexing of the waveform sequence slots. + + :param DRV2605 DRV2605_instance: The DRV2605 instance + """ - def __init__(self, DRV2605_instance): + def __init__(self, DRV2605_instance: DRV2605) -> None: self._drv2605 = DRV2605_instance - def __setitem__(self, slot, effect): + def __setitem__(self, slot: int, effect: Union[Effect, Pause]) -> None: """Write an Effect or Pause to a slot.""" if not 0 <= slot <= 7: raise IndexError("Slot must be a value within 0-6!") @@ -292,7 +323,7 @@ def __setitem__(self, slot, effect): # pylint: disable=protected-access self._drv2605._write_u8(_DRV2605_REG_WAVESEQ1 + slot, effect.raw_value) - def __getitem__(self, slot): + def __getitem__(self, slot: int) -> Union[Effect, Pause]: """Read an effect ID from a slot. Returns either a Pause or Effect class.""" if not 0 <= slot <= 7: raise IndexError("Slot must be a value within 0-6!") @@ -302,11 +333,11 @@ def __getitem__(self, slot): return Pause((slot_contents & 0x7F) / 100.0) return Effect(slot_contents) - def __iter__(self): + def __iter__(self) -> Union[Effect, Pause]: """Returns an iterator over the waveform sequence slots.""" for slot in range(0, 8): yield self[slot] - def __repr__(self): + def __repr__(self) -> str: """Return a string representation of all slot's effects.""" return repr(list(self)) diff --git a/examples/drv2605_simpletest.py b/examples/drv2605_simpletest.py index 6d80597..558f52e 100644 --- a/examples/drv2605_simpletest.py +++ b/examples/drv2605_simpletest.py @@ -22,9 +22,9 @@ while True: print("Playing effect #{0}".format(effect_id)) drv.sequence[0] = adafruit_drv2605.Effect(effect_id) # Set the effect on slot 0. - # You can assign effects to up to 7 different slots to combine + # You can assign effects to up to 8 different slots to combine # them in interesting ways. Index the sequence property with a - # slot number 0 to 6. + # slot number 0 to 7. # Optionally, you can assign a pause to a slot. E.g. # drv.sequence[1] = adafruit_drv2605.Pause(0.5) # Pause for half a second drv.play() # play the effect