diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index fff3aa9..1dad804 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -40,7 +40,7 @@ jobs: source actions-ci/install.sh - name: Pip install pylint, black, & Sphinx run: | - pip install --force-reinstall pylint==1.9.2 black==19.10b0 Sphinx sphinx-rtd-theme + pip install --force-reinstall pylint black==19.10b0 Sphinx sphinx-rtd-theme - name: Library version run: git describe --dirty --always --tags - name: PyLint diff --git a/adafruit_mpu6050.py b/adafruit_mpu6050.py index 7243822..96f1258 100644 --- a/adafruit_mpu6050.py +++ b/adafruit_mpu6050.py @@ -54,32 +54,34 @@ from adafruit_register.i2c_bit import RWBit from adafruit_register.i2c_bits import RWBits import adafruit_bus_device.i2c_device as i2c_device + # pylint: disable=bad-whitespace -_MPU6050_DEFAULT_ADDRESS = 0x68 # MPU6050 default i2c address w/ AD0 low -_MPU6050_DEVICE_ID = 0x68 # The correct MPU6050_WHO_AM_I value - -_MPU6050_SELF_TEST_X = 0x0D # Self test factory calibrated values register -_MPU6050_SELF_TEST_Y = 0x0E # Self test factory calibrated values register -_MPU6050_SELF_TEST_Z = 0x0F # Self test factory calibrated values register -_MPU6050_SELF_TEST_A = 0x10 # Self test factory calibrated values register -_MPU6050_SMPLRT_DIV = 0x19 # sample rate divisor register -_MPU6050_CONFIG = 0x1A # General configuration register -_MPU6050_GYRO_CONFIG = 0x1B # Gyro specfic configuration register -_MPU6050_ACCEL_CONFIG = 0x1C # Accelerometer specific configration register -_MPU6050_INT_PIN_CONFIG = 0x37 # Interrupt pin configuration register -_MPU6050_ACCEL_OUT = 0x3B # base address for sensor data reads -_MPU6050_TEMP_OUT = 0x41 # Temperature data high byte register -_MPU6050_GYRO_OUT = 0x43 # base address for sensor data reads -_MPU6050_SIG_PATH_RESET = 0x68 # register to reset sensor signal paths -_MPU6050_USER_CTRL = 0x6A # FIFO and I2C Master control register -_MPU6050_PWR_MGMT_1 = 0x6B # Primary power/sleep control register -_MPU6050_PWR_MGMT_2 = 0x6C # Secondary power/sleep control register -_MPU6050_WHO_AM_I = 0x75 # Divice ID register +_MPU6050_DEFAULT_ADDRESS = 0x68 # MPU6050 default i2c address w/ AD0 low +_MPU6050_DEVICE_ID = 0x68 # The correct MPU6050_WHO_AM_I value + +_MPU6050_SELF_TEST_X = 0x0D # Self test factory calibrated values register +_MPU6050_SELF_TEST_Y = 0x0E # Self test factory calibrated values register +_MPU6050_SELF_TEST_Z = 0x0F # Self test factory calibrated values register +_MPU6050_SELF_TEST_A = 0x10 # Self test factory calibrated values register +_MPU6050_SMPLRT_DIV = 0x19 # sample rate divisor register +_MPU6050_CONFIG = 0x1A # General configuration register +_MPU6050_GYRO_CONFIG = 0x1B # Gyro specfic configuration register +_MPU6050_ACCEL_CONFIG = 0x1C # Accelerometer specific configration register +_MPU6050_INT_PIN_CONFIG = 0x37 # Interrupt pin configuration register +_MPU6050_ACCEL_OUT = 0x3B # base address for sensor data reads +_MPU6050_TEMP_OUT = 0x41 # Temperature data high byte register +_MPU6050_GYRO_OUT = 0x43 # base address for sensor data reads +_MPU6050_SIG_PATH_RESET = 0x68 # register to reset sensor signal paths +_MPU6050_USER_CTRL = 0x6A # FIFO and I2C Master control register +_MPU6050_PWR_MGMT_1 = 0x6B # Primary power/sleep control register +_MPU6050_PWR_MGMT_2 = 0x6C # Secondary power/sleep control register +_MPU6050_WHO_AM_I = 0x75 # Divice ID register STANDARD_GRAVITY = 9.80665 # pylint: enable=bad-whitespace -class Range: # pylint: disable=too-few-public-methods + +class Range: # pylint: disable=too-few-public-methods """Allowed values for `accelerometer_range`. - ``Range.RANGE_2_G`` @@ -88,12 +90,14 @@ class Range: # pylint: disable=too-few-public-methods - ``Range.RANGE_16_G`` """ + RANGE_2_G = 0 # +/- 2g (default value) RANGE_4_G = 1 # +/- 4g RANGE_8_G = 2 # +/- 8g - RANGE_16_G = 3 # +/- 16g + RANGE_16_G = 3 # +/- 16g -class GyroRange: # pylint: disable=too-few-public-methods + +class GyroRange: # pylint: disable=too-few-public-methods """Allowed values for `gyro_range`. - ``GyroRange.RANGE_250_DPS`` @@ -102,12 +106,14 @@ class GyroRange: # pylint: disable=too-few-public-methods - ``GyroRange.RANGE_2000_DPS`` """ + RANGE_250_DPS = 0 # +/- 250 deg/s (default value) RANGE_500_DPS = 1 # +/- 500 deg/s - RANGE_1000_DPS = 2 # +/- 1000 deg/s - RANGE_2000_DPS = 3 # +/- 2000 deg/s + RANGE_1000_DPS = 2 # +/- 1000 deg/s + RANGE_2000_DPS = 3 # +/- 2000 deg/s + -class Bandwidth: # pylint: disable=too-few-public-methods +class Bandwidth: # pylint: disable=too-few-public-methods """Allowed values for `filter_bandwidth`. - ``Bandwidth.BAND_260_HZ`` @@ -119,15 +125,17 @@ class Bandwidth: # pylint: disable=too-few-public-methods - ``Bandwidth.BAND_5_HZ`` """ - BAND_260_HZ = 0 # Docs imply this disables the filter - BAND_184_HZ = 1 # 184 Hz + + BAND_260_HZ = 0 # Docs imply this disables the filter + BAND_184_HZ = 1 # 184 Hz BAND_94_HZ = 2 # 94 Hz BAND_44_HZ = 3 # 44 Hz BAND_21_HZ = 4 # 21 Hz BAND_10_HZ = 5 # 10 Hz - BAND_5_HZ = 6 # 5 Hz + BAND_5_HZ = 6 # 5 Hz + -class Rate: # pylint: disable=too-few-public-methods +class Rate: # pylint: disable=too-few-public-methods """Allowed values for `cycle_rate`. - ``Rate.CYCLE_1_25_HZ`` @@ -136,10 +144,12 @@ class Rate: # pylint: disable=too-few-public-methods - ``Rate.CYCLE_40_HZ`` """ - CYCLE_1_25_HZ = 0 # 1.25 Hz - CYCLE_5_HZ = 1 # 5 Hz - CYCLE_20_HZ = 2 # 20 Hz - CYCLE_40_HZ = 3 # 40 Hz + + CYCLE_1_25_HZ = 0 # 1.25 Hz + CYCLE_5_HZ = 1 # 5 Hz + CYCLE_20_HZ = 2 # 20 Hz + CYCLE_40_HZ = 3 # 40 Hz + class MPU6050: """Driver for the MPU6050 6-DoF accelerometer and gyroscope. @@ -148,6 +158,7 @@ class MPU6050: :param address: The I2C slave address of the sensor """ + def __init__(self, i2c_bus, address=_MPU6050_DEFAULT_ADDRESS): self.i2c_device = i2c_device.I2CDevice(i2c_bus, address) @@ -161,12 +172,11 @@ def __init__(self, i2c_bus, address=_MPU6050_DEFAULT_ADDRESS): self._gyro_range = GyroRange.RANGE_500_DPS self._accel_range = Range.RANGE_2_G sleep(0.100) - self._clock_source = 1 # set to use gyro x-axis as reference + self._clock_source = 1 # set to use gyro x-axis as reference sleep(0.100) self.sleep = False sleep(0.010) - def reset(self): """Reinitialize the sensor""" self._reset = True @@ -174,7 +184,7 @@ def reset(self): sleep(0.001) sleep(0.100) - _signal_path_reset = 0b111 # reset all sensors + _signal_path_reset = 0b111 # reset all sensors sleep(0.100) _clock_source = RWBits(3, _MPU6050_PWR_MGMT_1, 0) @@ -254,9 +264,9 @@ def gyro(self): gyro_scale = 16.4 # setup range dependant scaling - gyro_x = (raw_x / gyro_scale) - gyro_y = (raw_y / gyro_scale) - gyro_z = (raw_z / gyro_scale) + gyro_x = raw_x / gyro_scale + gyro_y = raw_y / gyro_scale + gyro_z = raw_z / gyro_scale return (gyro_x, gyro_y, gyro_z) diff --git a/docs/conf.py b/docs/conf.py index 7919582..b9cec80 100644 --- a/docs/conf.py +++ b/docs/conf.py @@ -2,7 +2,8 @@ import os import sys -sys.path.insert(0, os.path.abspath('..')) + +sys.path.insert(0, os.path.abspath("..")) # -- General configuration ------------------------------------------------ @@ -10,10 +11,10 @@ # extensions coming with Sphinx (named 'sphinx.ext.*') or your custom # ones. extensions = [ - 'sphinx.ext.autodoc', - 'sphinx.ext.intersphinx', - 'sphinx.ext.napoleon', - 'sphinx.ext.todo', + "sphinx.ext.autodoc", + "sphinx.ext.intersphinx", + "sphinx.ext.napoleon", + "sphinx.ext.todo", ] # TODO: Please Read! @@ -23,29 +24,40 @@ autodoc_mock_imports = ["adafruit_register", "adafruit_bus_device"] -intersphinx_mapping = {'python': ('https://docs.python.org/3.4', None),'BusDevice': ('https://circuitpython.readthedocs.io/projects/busdevice/en/latest/', None),'Register': ('https://circuitpython.readthedocs.io/projects/register/en/latest/', None),'CircuitPython': ('https://circuitpython.readthedocs.io/en/latest/', None)} +intersphinx_mapping = { + "python": ("https://docs.python.org/3.4", None), + "BusDevice": ( + "https://circuitpython.readthedocs.io/projects/busdevice/en/latest/", + None, + ), + "Register": ( + "https://circuitpython.readthedocs.io/projects/register/en/latest/", + None, + ), + "CircuitPython": ("https://circuitpython.readthedocs.io/en/latest/", None), +} # Add any paths that contain templates here, relative to this directory. -templates_path = ['_templates'] +templates_path = ["_templates"] -source_suffix = '.rst' +source_suffix = ".rst" # The master toctree document. -master_doc = 'index' +master_doc = "index" # General information about the project. -project = u'Adafruit MPU6050 Library' -copyright = u'2019 Bryan Siepert' -author = u'Bryan Siepert' +project = u"Adafruit MPU6050 Library" +copyright = u"2019 Bryan Siepert" +author = u"Bryan Siepert" # The version info for the project you're documenting, acts as replacement for # |version| and |release|, also used in various other places throughout the # built documents. # # The short X.Y version. -version = u'1.0' +version = u"1.0" # The full version, including alpha/beta/rc tags. -release = u'1.0' +release = u"1.0" # The language for content autogenerated by Sphinx. Refer to documentation # for a list of supported languages. @@ -57,7 +69,7 @@ # List of patterns, relative to source directory, that match files and # directories to ignore when looking for source files. # This patterns also effect to html_static_path and html_extra_path -exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store', '.env', 'CODE_OF_CONDUCT.md'] +exclude_patterns = ["_build", "Thumbs.db", ".DS_Store", ".env", "CODE_OF_CONDUCT.md"] # The reST default role (used for this markup: `text`) to use for all # documents. @@ -69,7 +81,7 @@ add_function_parentheses = True # The name of the Pygments (syntax highlighting) style to use. -pygments_style = 'sphinx' +pygments_style = "sphinx" # If true, `todo` and `todoList` produce output, else they produce nothing. todo_include_todos = False @@ -84,59 +96,62 @@ # The theme to use for HTML and HTML Help pages. See the documentation for # a list of builtin themes. # -on_rtd = os.environ.get('READTHEDOCS', None) == 'True' +on_rtd = os.environ.get("READTHEDOCS", None) == "True" if not on_rtd: # only import and set the theme if we're building docs locally try: import sphinx_rtd_theme - html_theme = 'sphinx_rtd_theme' - html_theme_path = [sphinx_rtd_theme.get_html_theme_path(), '.'] + + html_theme = "sphinx_rtd_theme" + html_theme_path = [sphinx_rtd_theme.get_html_theme_path(), "."] except: - html_theme = 'default' - html_theme_path = ['.'] + html_theme = "default" + html_theme_path = ["."] else: - html_theme_path = ['.'] + html_theme_path = ["."] # Add any paths that contain custom static files (such as style sheets) here, # relative to this directory. They are copied after the builtin static files, # so a file named "default.css" will overwrite the builtin "default.css". -html_static_path = ['_static'] +html_static_path = ["_static"] # The name of an image file (relative to this directory) to use as a favicon of # the docs. This file should be a Windows icon file (.ico) being 16x16 or 32x32 # pixels large. # -html_favicon = '_static/favicon.ico' +html_favicon = "_static/favicon.ico" # Output file base name for HTML help builder. -htmlhelp_basename = 'AdafruitMpu6050Librarydoc' +htmlhelp_basename = "AdafruitMpu6050Librarydoc" # -- Options for LaTeX output --------------------------------------------- latex_elements = { - # The paper size ('letterpaper' or 'a4paper'). - # - # 'papersize': 'letterpaper', - - # The font size ('10pt', '11pt' or '12pt'). - # - # 'pointsize': '10pt', - - # Additional stuff for the LaTeX preamble. - # - # 'preamble': '', - - # Latex figure (float) alignment - # - # 'figure_align': 'htbp', + # The paper size ('letterpaper' or 'a4paper'). + # + # 'papersize': 'letterpaper', + # The font size ('10pt', '11pt' or '12pt'). + # + # 'pointsize': '10pt', + # Additional stuff for the LaTeX preamble. + # + # 'preamble': '', + # Latex figure (float) alignment + # + # 'figure_align': 'htbp', } # Grouping the document tree into LaTeX files. List of tuples # (source start file, target name, title, # author, documentclass [howto, manual, or own class]). latex_documents = [ - (master_doc, 'AdafruitMPU6050Library.tex', u'AdafruitMPU6050 Library Documentation', - author, 'manual'), + ( + master_doc, + "AdafruitMPU6050Library.tex", + u"AdafruitMPU6050 Library Documentation", + author, + "manual", + ), ] # -- Options for manual page output --------------------------------------- @@ -144,8 +159,13 @@ # One entry per manual page. List of tuples # (source start file, name, description, authors, manual section). man_pages = [ - (master_doc, 'AdafruitMPU6050library', u'Adafruit MPU6050 Library Documentation', - [author], 1) + ( + master_doc, + "AdafruitMPU6050library", + u"Adafruit MPU6050 Library Documentation", + [author], + 1, + ) ] # -- Options for Texinfo output ------------------------------------------- @@ -154,7 +174,13 @@ # (source start file, target name, title, author, # dir menu entry, description, category) texinfo_documents = [ - (master_doc, 'AdafruitMPU6050Library', u'Adafruit MPU6050 Library Documentation', - author, 'AdafruitMPU6050Library', 'One line description of project.', - 'Miscellaneous'), + ( + master_doc, + "AdafruitMPU6050Library", + u"Adafruit MPU6050 Library Documentation", + author, + "AdafruitMPU6050Library", + "One line description of project.", + "Miscellaneous", + ), ] diff --git a/examples/mpu6050_inclinometer.py b/examples/mpu6050_inclinometer.py index ccf7202..8955e60 100644 --- a/examples/mpu6050_inclinometer.py +++ b/examples/mpu6050_inclinometer.py @@ -16,6 +16,7 @@ # Given a point (x, y) return the angle of that point relative to x axis. # Returns: angle in degrees + def vector_2_degrees(x, y): angle = degrees(atan2(y, x)) if angle < 0: @@ -26,6 +27,7 @@ def vector_2_degrees(x, y): # Given an accelerometer sensor object return the inclination angles of X/Z and Y/Z # Returns: tuple containing the two angles in degrees + def get_inclination(_sensor): x, y, z = _sensor.acceleration return vector_2_degrees(x, z), vector_2_degrees(y, z) diff --git a/examples/mpu6050_plotter_example.py b/examples/mpu6050_plotter_example.py index 5e8251c..48c2b2b 100644 --- a/examples/mpu6050_plotter_example.py +++ b/examples/mpu6050_plotter_example.py @@ -9,6 +9,6 @@ mpu.gyro_range = adafruit_mpu6050.GyroRange.RANGE_250_DPS while True: # this prints out all the values like a tuple which Mu's plotter prefer - print("(%.2f, %.2f, %.2f "%(mpu.acceleration), end=", ") - print("%.2f, %.2f, %.2f)"%(mpu.gyro)) + print("(%.2f, %.2f, %.2f " % (mpu.acceleration), end=", ") + print("%.2f, %.2f, %.2f)" % (mpu.gyro)) time.sleep(0.010) diff --git a/examples/mpu6050_simpletest.py b/examples/mpu6050_simpletest.py index b97e029..15860b5 100644 --- a/examples/mpu6050_simpletest.py +++ b/examples/mpu6050_simpletest.py @@ -7,8 +7,8 @@ mpu = adafruit_mpu6050.MPU6050(i2c) while True: - print("Acceleration: X:%.2f, Y: %.2f, Z: %.2f m/s^2"%(mpu.acceleration)) - print("Gyro X:%.2f, Y: %.2f, Z: %.2f degrees/s"%(mpu.gyro)) - print("Temperature: %.2f C"%mpu.temperature) + print("Acceleration: X:%.2f, Y: %.2f, Z: %.2f m/s^2" % (mpu.acceleration)) + print("Gyro X:%.2f, Y: %.2f, Z: %.2f degrees/s" % (mpu.gyro)) + print("Temperature: %.2f C" % mpu.temperature) print("") time.sleep(1) diff --git a/setup.py b/setup.py index 70a3443..de52b51 100644 --- a/setup.py +++ b/setup.py @@ -6,6 +6,7 @@ """ from setuptools import setup, find_packages + # To use a consistent encoding from codecs import open from os import path @@ -13,53 +14,44 @@ here = path.abspath(path.dirname(__file__)) # Get the long description from the README file -with open(path.join(here, 'README.rst'), encoding='utf-8') as f: +with open(path.join(here, "README.rst"), encoding="utf-8") as f: long_description = f.read() setup( - name='adafruit-circuitpython-mpu6050', - + name="adafruit-circuitpython-mpu6050", use_scm_version=True, - setup_requires=['setuptools_scm'], - - description='CircuitPython helper library for the MPU6050 6-DoF Accelerometer and Gyroscope', + setup_requires=["setuptools_scm"], + description="CircuitPython helper library for the MPU6050 6-DoF Accelerometer and Gyroscope", long_description=long_description, - long_description_content_type='text/x-rst', - + long_description_content_type="text/x-rst", # The project's main homepage. - url='https://github.com/adafruit/Adafruit_CircuitPython_MPU6050', - + url="https://github.com/adafruit/Adafruit_CircuitPython_MPU6050", # Author details - author='Adafruit Industries', - author_email='circuitpython@adafruit.com', - + author="Adafruit Industries", + author_email="circuitpython@adafruit.com", install_requires=[ - 'Adafruit-Blinka', - 'adafruit-circuitpython-busdevice', - 'adafruit-circuitpython-register' + "Adafruit-Blinka", + "adafruit-circuitpython-busdevice", + "adafruit-circuitpython-register", ], - # Choose your license - license='MIT', - + license="MIT", # See https://pypi.python.org/pypi?%3Aaction=list_classifiers classifiers=[ - 'Development Status :: 3 - Alpha', - 'Intended Audience :: Developers', - 'Topic :: Software Development :: Libraries', - 'Topic :: System :: Hardware', - 'License :: OSI Approved :: MIT License', - 'Programming Language :: Python :: 3', - 'Programming Language :: Python :: 3.4', - 'Programming Language :: Python :: 3.5', + "Development Status :: 3 - Alpha", + "Intended Audience :: Developers", + "Topic :: Software Development :: Libraries", + "Topic :: System :: Hardware", + "License :: OSI Approved :: MIT License", + "Programming Language :: Python :: 3", + "Programming Language :: Python :: 3.4", + "Programming Language :: Python :: 3.5", ], - # What does your project relate to? - keywords='adafruit blinka circuitpython micropython mpu6050', - + keywords="adafruit blinka circuitpython micropython mpu6050", # You can just specify the packages manually here if your project is # simple. Or you can use find_packages(). # TODO: IF LIBRARY FILES ARE A PACKAGE FOLDER, # CHANGE `py_modules=['...']` TO `packages=['...']` - py_modules=['adafruit_mpu6050'], + py_modules=["adafruit_mpu6050"], )