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from . import Pmod
from . import PMOD_GROVE_G3
from . import PMOD_GROVE_G4
__author__ = "Marco Rabozzi, Luca Cerina, Giuseppe Natale"
__copyright__ = "Copyright 2016, NECST Laboratory, Politecnico di Milano"
PMOD_GROVE_HAPTIC_MOTOR_PROGRAM = "pmod_grove_haptic_motor.bin"
CONFIG_IOP_SWITCH = 0x1
START_WAVEFORM = 0x2
STOP_WAVEFORM = 0x3
READ_IS_PLAYING = 0x4
[docs]class Grove_HapticMotor(object):
"""This class controls the Grove Haptic Motor based on the DRV2605L.
Hardware version v0.9.
Attributes
----------
microblaze : Pmod
Microblaze processor instance used by this module.
"""
def __init__(self, mb_info, gr_pin):
"""Return a new instance of an Grove_Haptic_Motor object.
Parameters
----------
mb_info : dict
A dictionary storing Microblaze information, such as the
IP name and the reset name.
gr_pin: list
A group of pins on pmod-grove adapter.
"""
if gr_pin not in [PMOD_GROVE_G3,
PMOD_GROVE_G4]:
raise ValueError("Group number can only be G3 - G4.")
self.microblaze = Pmod(mb_info, PMOD_GROVE_HAPTIC_MOTOR_PROGRAM)
self.microblaze.write_mailbox(0, gr_pin)
self.microblaze.write_blocking_command(CONFIG_IOP_SWITCH)
[docs] def play(self, effect):
"""Play a vibration effect on the Grove Haptic Motor peripheral.
Valid effect identifiers are in the range [1, 127].
Parameters
----------
effect : int
An integer that specifies the effect.
Returns
-------
None
"""
if (effect < 1) or (effect > 127):
raise ValueError("Valid effect identifiers are within 1 and 127.")
self.microblaze.write_mailbox(0, [effect, 0])
self.microblaze.write_blocking_command(START_WAVEFORM)
[docs] def play_sequence(self, sequence):
"""Play a sequence of effects possibly separated by pauses.
At most 8 effects or pauses can be specified at a time.
Pauses are defined using negative integer values in the
range [-1, -127] that correspond to a pause length in the
range [10, 1270] ms
Valid effect identifiers are in the range [1, 127]
As an example, in the following sequence example: [4,-20,5]
effect 4 is played and after a pause of 200 ms effect 5 is played
Parameters
----------
sequence : list
At most 8 values specifying effects and pauses.
Returns
-------
None
"""
length = len(sequence)
if length < 1:
raise ValueError("The sequence must contain at least one value.")
if length > 8:
raise ValueError("The sequence cannot contain more than 8 values.")
for i in range(length):
if sequence[i] < 0:
if sequence[i] < -127:
raise ValueError("Pause value must be smaller than -127")
sequence[i] = -sequence[i] + 128
else:
if (sequence[i] < 1) or (sequence[i] > 127):
raise ValueError("Valid effect identifiers are within " +
"1 and 127.")
sequence += [0]*(8 - length)
self.microblaze.write_mailbox(0, sequence)
self.microblaze.write_blocking_command(START_WAVEFORM)
[docs] def stop(self):
"""Stop an effect or a sequence on the motor peripheral.
Returns
-------
None
"""
self.microblaze.write_blocking_command(STOP_WAVEFORM)
[docs] def is_playing(self):
"""Check if a vibration effect is running on the motor.
Returns
-------
bool
True if a vibration effect is playing, false otherwise
"""
self.microblaze.write_blocking_command(READ_IS_PLAYING)
flag = self.microblaze.read_mailbox(0)
return flag == 1