Source code for pynq.lib.arduino.arduino_grove_haptic_motor

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from . import Arduino
from . import ARDUINO_GROVE_I2C


__author__ = "Marco Rabozzi, Luca Cerina, Giuseppe Natale"
__copyright__ = "Copyright 2016, NECST Laboratory, Politecnico di Milano"


ARDUINO_GROVE_HAPTIC_MOTOR_PROGRAM = "arduino_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 : Arduino 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 arduino-grove shield. """ if gr_pin not in [ARDUINO_GROVE_I2C]: raise ValueError("Group number can only be I2C.") self.microblaze = Arduino(mb_info, ARDUINO_GROVE_HAPTIC_MOTOR_PROGRAM) 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