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Merged
merged 1 commit into from
Mar 17, 2020
Merged

Ran black, updated to pylint 2.x #7

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2 changes: 1 addition & 1 deletion .github/workflows/build.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down
90 changes: 50 additions & 40 deletions adafruit_mpu6050.py
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Expand Up @@ -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``
Expand All @@ -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``
Expand All @@ -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``
Expand All @@ -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``
Expand All @@ -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.
Expand All @@ -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)

Expand All @@ -161,20 +172,19 @@ 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
while self._reset is True:
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)
Expand Down Expand Up @@ -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)

Expand Down
120 changes: 73 additions & 47 deletions docs/conf.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,18 +2,19 @@

import os
import sys
sys.path.insert(0, os.path.abspath('..'))

sys.path.insert(0, os.path.abspath(".."))

# -- General configuration ------------------------------------------------

# Add any Sphinx extension module names here, as strings. They can be
# 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!
Expand All @@ -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.
Expand All @@ -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.
Expand All @@ -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
Expand All @@ -84,68 +96,76 @@
# 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 ---------------------------------------

# 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 -------------------------------------------
Expand All @@ -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",
),
]
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