def __init__(self,
group=None,
target=None,
name=None,
args=(),
kwargs=None):
super(I2CThread, self).__init__(group=group, target=target, name=name)
self._running = True
self.args = args
self.kwargs = kwargs
self.queue = kwargs['queue']
print("I2CThread: initializing I2C")
self.i2c = busio.I2C(board.SCL, board.SDA)
print('I2CThread: Initializing I2C mux')
self.tca = adafruit_tca9548a.TCA9548A(self.i2c)
self.drv = []
for i in range(8):
print('I2CThread: Initializing driver {}'.format(i))
self.drv.append(adafruit_drv2605.DRV2605(self.tca[i]))
self.drv[i].use_LRM()
self.drv[i].library = adafruit_drv2605.LIBRARY_LRA
return
def __init__(self, name, args={}, debug_pref=False):
super().__init__(name, args, debug_pref)
self._type = 'haptic'
if 'source_bus' not in args:
raise AttributeError("Source bus required for {} {}".format(self.type, self.name))
self._connection = adafruit_drv2605.DRV2605(self._i2c)
self._motor = 'erm'
if 'motor' in args:
if type(args['motor']) is not str:
raise TypeError("motor in output {} must be type str".format(self.name))
args['motor'] = args['motor'].lower()
if args['motor'] not in ['erm', 'lra']:
raise AttributeError("Invalid motor in output {}".format(self.name))
self._motor = args['motor']
if self._motor == 'lra':
self._connection.use_LRM()
self._effect = None
if 'effect' in args:
if type(args['effect']) is not str and type(args['effect']) is not int and type(args['effect']) is not float:
raise TypeError("effect in output {} must be type int".format(self.name))
effect = int(args['effect'])
if effect < 1 or effect > 123:
raise ValueError("Invalid effect value for {}".format(self.name))
self._effect = effect
def __init__(self,
group=None,
target=None,
name=None,
args=(),
kwargs=None):
super(I2CThread, self).__init__(group=group, target=target, name=name)
self._running = True
self.args = args
self.kwargs = kwargs
self.queue = kwargs['queue']
print("I2CThread: initializing I2C") # communicating to DRV2605
self.i2c = busio.I2C(board.SCL, board.SDA) # access to hardware
print('I2CThread: Initializing I2C mux'
) # enabling multiple motor control
self.tca = adafruit_tca9548a.TCA9548A(self.i2c)
self.drv = [] # drive multiple motors and link Queue protocol to DRV
for i in range(8):
print('I2CThread: Initializing driver {}'.format(i))
self.drv.append(adafruit_drv2605.DRV2605(self.tca[i]))
#self.drv[i].use_LRA() #adafruit-DRV
#print('DRV2605: Auto-Calibrating driver {}'.format(i))
#self.drv[i].mode = 7 #MODE_AUTOCAL
#self.drv[i].autocal()
#print('2x auto-cal driver {}'.format(i))
#self.drv[i].autocal()
print('DRV2605: driver {} ready for use'.format(i))
self.drv[i].mode = 1 #MODE_INTTRIG
self.drv[i].library = 6 #LIBRARY_LRA
return
def adafruit():
import board
import busio
import adafruit_drv2605
i2c = busio.I2C(board.SCL, board.SDA)
drv = adafruit_drv2605.DRV2605(i2c)
for i in range(123):
drv.sequence[i] = adafruit_drv2605.Effect(i)
drv.play()
time.sleep(0.5)
drv.stop()
def __init__(self):
self.IMU_ADDRESS = 0x29
self.DRV_ADDRESS = 0x5A
self.METER_ADDRESS = '0x40'
self.DACL_ADDRESS = 0x62
self.DACR_ADDRESS = 0x63
self.i2c = busio.I2C(board.SCL, board.SDA)
devices = self.scan_bus()
print(devices)
if len(devices) == 0: print('* No I/O device found')
if str(self.IMU_ADDRESS) in devices:
print('* Motion sensor detected')
self.motion = adafruit_bno055.BNO055_I2C(self.i2c,
self.IMU_ADDRESS)
else:
self.motion = None
if str(self.DRV_ADDRESS) in devices:
haptic = adafruit_drv2605.DRV2605(self.i2c, self.DRV_ADDRESS)
haptic.mode(0x03) # Analog/PWM Mode
haptic.use_LRM()
print('* Haptic driver detected (and set to analog mode)')
else:
self.haptic = None
if str(self.METER_ADDRESS) in devices:
self.meter = INA219(0.1, 3)
self.meter.configure(self.meter.RANGE_16V)
print('* Current sensor detected')
else:
self.meter = None
if str(self.DACL_ADDRESS) in devices:
self.leftDAC = adafruit_mcp4725.MCP4725(self.i2c,
self.DACL_ADDRESS)
print('* Left DAC detected')
else:
self.leftDAC = None
if str(self.DACL_ADDRESS) in devices:
self.rightDAC = adafruit_mcp4725.MCP4725(self.i2c,
self.DACR_ADDRESS)
print('* Left DAC detected')
else:
self.rightDAC = None
def playHeartBeat(heartRate):
# Initialize I2C bus and DRV2605 module.
i2c = busio.I2C(board.SCL, board.SDA)
drv = adafruit_drv2605.DRV2605(i2c)
# Main loop runs forever trying each effect (1-123).
# See table 11.2 in the datasheet for a list of all the effect names and IDs.
# http://www.ti.com/lit/ds/symlink/drv2605.pdf
softPulse = 21
hardPulse = 17
beatLength = 0.5
# heartRate = 68
if heartRate > 0 and heartRate < 120:
heartRate = 68
pauseLength = (60 / heartRate) - beatLength
if pauseLength < 0:
pauseLength = 0.1
counter = 0
while True:
# print('Playing effect #{0}'.format("softPulse: " + str(softPulse)))
drv.sequence[0] = adafruit_drv2605.Effect(
softPulse) # Set the effect on slot 0.
# print('Playing effect #{0}'.format("hardPulse: " + str(hardPulse)))
drv.sequence[1] = adafruit_drv2605.Effect(
hardPulse) # Set the effect on slot 0.
# You can assign effects to up to 7 different slots to combine
# them in interesting ways. Index the sequence property with a
# slot number 0 to 6.
# 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
time.sleep(beatLength) # for 0.5 seconds
drv.stop() # and then stop (if it's still running)
time.sleep(pauseLength)
# SPDX-FileCopyrightText: 2017 Tony DiCola for Adafruit Industries
# SPDX-License-Identifier: MIT
# Simple demo of the DRV2605 haptic feedback motor driver.
# Will play all 123 effects in order for about a half second each.
import time
import board
import busio
import adafruit_drv2605
# Initialize I2C bus and DRV2605 module.
i2c = busio.I2C(board.SCL, board.SDA)
drv = adafruit_drv2605.DRV2605(i2c)
# Main loop runs forever trying each effect (1-123).
# See table 11.2 in the datasheet for a list of all the effect names and IDs.
# http://www.ti.com/lit/ds/symlink/drv2605.pdf
effect_id = 1
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
# them in interesting ways. Index the sequence property with a
# slot number 0 to 6.
# 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
time.sleep(0.5) # for 0.5 seconds
def __init__(self):
i2c = busio.I2C(board.SCL, board.SDA)
self._drv = adafruit_drv2605.DRV2605(i2c)
print ("DRV2605 haptic feedback motor driver initialized.")
def handler(signal_received, frame):
for i in range(8):
drv[i].stop()
exit(0)
# Create I2C bus as normal
i2c = busio.I2C(board.SCL, board.SDA)
# Create the TCA9548A object and give it the I2C bus
print("Initializing I2C Mux")
tca = adafruit_tca9548a.TCA9548A(i2c)
for i in range(8):
print("Initializing driver {}".format(i))
drv.append(adafruit_drv2605.DRV2605(tca[i]))
drv[i].use_LRM()
signal(SIGINT, handler)
# Main loop runs forever trying each effect (1-123).
# See table 11.2 in the datasheet for a list of all the effect names and IDs.
# http://www.ti.com/lit/ds/symlink/drv2605.pdf
effect_id = 118
while True:
print('Playing effect #{0}'.format(effect_id))
for i in range(8):
print('Using channel #{0}'.format(i))
drv[i].sequence[0] = adafruit_drv2605.Effect(
effect_id) # Set the effect on slot 0.
drv[i].sequence[1] = adafruit_drv2605.Pause(
#!/usr/bin/env python
import board
import busio
import adafruit_tca9548a
import adafruit_drv2605
i2c = busio.I2C(board.SCL, board.SDA)
tca = adafruit_tca9548a.TCA9548A(i2c)
drvs = [adafruit_drv2605.DRV2605(tca[i]) for i in range(5)]
def multi_vib(levels):
"""
given [Int], vibrate each motor based on input
"""
for level, drv in zip(levels, drvs):
vibrate(level, drv)
print("vibrate at:", level)
def vibrate(level, drv):
# control vibration level at 20 60 and 100
if level <= 100 and level > 60:
drv.sequence[0] = adafruit_drv2605.Effect(47)
elif level >= 60:
drv.sequence[0] = adafruit_drv2605.Effect(49)
else:
drv.sequence[0] = adafruit_drv2605.Effect(51)
drv.play()
