added type hints

Author: Chr157i4n

src/tmc_driver/_tmc_math.py

@@ -4,7 +4,7 @@
 
 
 
-def rps_to_vactual(rps, steps_per_rev, fclk = 12000000):
+def rps_to_vactual(rps, steps_per_rev:int, fclk:int = 12000000) -> int:
     """converts rps -> vactual
 
     Args:
@@ -18,7 +18,7 @@ def rps_to_vactual(rps, steps_per_rev, fclk = 12000000):
     return int(round(rps / (fclk / 16777216) * steps_per_rev))
 
 
-def vactual_to_rps(vactual, steps_per_rev, fclk = 12000000):
+def vactual_to_rps(vactual:int, steps_per_rev:int, fclk:int = 12000000) -> float:
     """converts vactual -> rps
 
     Args:
@@ -32,7 +32,7 @@ def vactual_to_rps(vactual, steps_per_rev, fclk = 12000000):
     return vactual * (fclk / 16777216) / steps_per_rev
 
 
-def rps_to_steps(rps, steps_per_rev):
+def rps_to_steps(rps:float, steps_per_rev:int) -> int:
     """converts rps -> steps/second
 
     Args:
@@ -42,9 +42,9 @@ def rps_to_steps(rps, steps_per_rev):
     Returns:
         steps (int): steps per second
     """
-    return rps * steps_per_rev
+    return int(round(rps * steps_per_rev))
 
-def steps_to_rps(steps, steps_per_rev):
+def steps_to_rps(steps:int, steps_per_rev:int) -> float:
     """converts steps/second -> rps
 
     Args:
@@ -57,7 +57,7 @@ def steps_to_rps(steps, steps_per_rev):
     return steps / steps_per_rev
 
 
-def rps_to_tstep(rps, steps_per_rev, mres):
+def rps_to_tstep(rps:float, steps_per_rev:int, mres:int) -> int:
     """converts rps -> tstep
 
     Args:
@@ -71,7 +71,7 @@ def rps_to_tstep(rps, steps_per_rev, mres):
     return int(round(12000000 / (rps_to_steps(rps, steps_per_rev) * 256 / mres)))
 
 
-def steps_to_tstep(steps, mres):
+def steps_to_tstep(steps:int, mres:int) -> int:
     """converts steps/second -> tstep
 
     Args:
@@ -84,7 +84,7 @@ def steps_to_tstep(steps, mres):
     return int(round(12000000 / (steps * 256 / mres)))
 
 
-def constrain(val, min_val, max_val):
+def constrain(val:int, min_val:int, max_val:int) -> int:
     """constrains a value between a min and a max
 
     Args:

src/tmc_driver/_tmc_spi.py

@@ -8,10 +8,10 @@
 
 import time
 import struct
-
+from typing import List
 from .reg._tmc_220x_reg_addr import TmcRegAddr
 from .reg._tmc_gstat import GStat
-from ._tmc_logger import Loglevel
+from ._tmc_logger import TmcLogger, Loglevel
 
 
 class TmcSpi:
@@ -21,14 +21,13 @@ class TmcSpi:
     it can be used to change the settings of the TMC.
     like the current or the microsteppingmode
     """
-    _tmc_logger = None
-
-    mtr_id = 0
-    ser = None
-    r_frame  = [0x55, 0, 0, 0  ]
-    w_frame  = [0x55, 0, 0, 0 , 0, 0, 0, 0 ]
-    communication_pause = 0
-    error_handler_running = False
+    _tmc_logger:TmcLogger = None
+
+    mtr_id:int = 0
+    r_frame:List[int] = [0x55, 0, 0, 0  ]
+    w_frame:List[int] = [0x55, 0, 0, 0 , 0, 0, 0, 0 ]
+    communication_pause:int = 0
+    error_handler_running:bool = False
 
     @property
     def tmc_logger(self):

src/tmc_driver/_tmc_uart.py

@@ -7,10 +7,10 @@
 import time
 import struct
 import serial
-
+from typing import List
 from .reg._tmc_220x_reg_addr import TmcRegAddr
 from .reg._tmc_gstat import GStat
-from ._tmc_logger import Loglevel
+from ._tmc_logger import TmcLogger, Loglevel
 
 
 class TmcUart:
@@ -20,22 +20,22 @@ class TmcUart:
     it can be used to change the settings of the TMC.
     like the current or the microsteppingmode
     """
-    _tmc_logger = None
+    _tmc_logger:TmcLogger = None
 
-    mtr_id = 0
-    ser = None
-    r_frame  = [0x55, 0, 0, 0  ]
-    w_frame  = [0x55, 0, 0, 0 , 0, 0, 0, 0 ]
-    communication_pause = 0
-    error_handler_running = False
+    mtr_id:int = 0
+    ser:serial.Serial = None
+    r_frame:List[int] = [0x55, 0, 0, 0  ]
+    w_frame:List[int] = [0x55, 0, 0, 0 , 0, 0, 0, 0 ]
+    communication_pause:int = 0
+    error_handler_running:bool = False
 
     @property
-    def tmc_logger(self):
+    def tmc_logger(self) -> TmcLogger:
         """get the tmc_logger"""
         return self._tmc_logger
 
     @tmc_logger.setter
-    def tmc_logger(self, tmc_logger):
+    def tmc_logger(self, tmc_logger:TmcLogger):
         """set the tmc_logger"""
         self._tmc_logger = tmc_logger
 

src/tmc_driver/tmc_220x.py

@@ -48,17 +48,17 @@ class Tmc220x:
     _steps_per_rev:int = 0
     _fullsteps_per_rev:int = 0
 
-    _current_pos:int = 0                 # current position of stepper in steps
-    _target_pos:int = 0                  # the target position in steps
-    _speed:float = 0.0                    # the current speed in steps per second
-    _max_speed:float = 1.0                 # the maximum speed in steps per second
-    _max_speed_homing:float = 200           # the maximum speed in steps per second for homing
-    _acceleration:float = 1.0             # the acceleration in steps per second per second
-    _acceleration_homing:float = 10000     # the acceleration in steps per second per second for homing
-    _sqrt_twoa:float = 1.0                # Precomputed sqrt(2*_acceleration)
-    _step_interval:int = 0               # the current interval between two steps
-    _min_pulse_width:int = 1              # minimum allowed pulse with in microseconds
-    _last_step_time:int = 0               # The last step time in microseconds
+    _current_pos:int = 0                # current position of stepper in steps
+    _target_pos:int = 0                 # the target position in steps
+    _speed:int = 0                      # the current speed in steps per second
+    _max_speed:int = 1                  # the maximum speed in steps per second
+    _max_speed_homing:int = 200         # the maximum speed in steps per second for homing
+    _acceleration:int = 1               # the acceleration in steps per second per second
+    _acceleration_homing:int = 10000    # the acceleration in steps per second per second for homing
+    _sqrt_twoa:float = 1.0              # Precomputed sqrt(2*_acceleration)
+    _step_interval:int = 0              # the current interval between two steps
+    _min_pulse_width:int = 1            # minimum allowed pulse with in microseconds
+    _last_step_time:int = 0             # The last step time in microseconds
     _n:int = 0                          # step counter
     _c0:int = 0                         # Initial step size in microseconds
     _cn:int = 0                         # Last step size in microseconds
@@ -82,7 +82,7 @@ def fullsteps_per_rev(self):
         return self._fullsteps_per_rev
 
     @fullsteps_per_rev.setter
-    def fullsteps_per_rev(self, fullsteps_per_rev):
+    def fullsteps_per_rev(self, fullsteps_per_rev:int):
         """_fullsteps_per_rev setter"""
         self._fullsteps_per_rev = fullsteps_per_rev
         self._steps_per_rev = self._fullsteps_per_rev * self._mres
@@ -93,7 +93,7 @@ def mres(self):
         return self._mres
 
     @mres.setter
-    def mres(self, mres):
+    def mres(self, mres:int):
         """_mres setter"""
         self._mres = mres
         self._steps_per_rev = self._fullsteps_per_rev * self._mres
@@ -104,7 +104,7 @@ def current_pos(self):
         return self._current_pos
 
     @current_pos.setter
-    def current_pos(self, current_pos):
+    def current_pos(self, current_pos:int):
         """_current_pos setter"""
         self._current_pos = current_pos
 
@@ -114,7 +114,7 @@ def movement_abs_rel(self):
         return self._movement_abs_rel
 
     @movement_abs_rel.setter
-    def movement_abs_rel(self, movement_abs_rel):
+    def movement_abs_rel(self, movement_abs_rel:MovementAbsRel):
         """_movement_abs_rel setter"""
         self._movement_abs_rel = movement_abs_rel
 
@@ -129,7 +129,7 @@ def speed(self):
         return self._speed
 
     @speed.setter
-    def speed(self, speed):
+    def speed(self, speed:int):
         """_speed setter"""
         self.set_speed(speed)
 
@@ -139,7 +139,7 @@ def max_speed(self):
         return self._max_speed
 
     @max_speed.setter
-    def max_speed(self, max_speed):
+    def max_speed(self, max_speed:int):
         """_max_speed setter"""
         self.set_max_speed(max_speed)
 
@@ -149,7 +149,7 @@ def max_speed_fullstep(self):
         return self._max_speed
 
     @max_speed_fullstep.setter
-    def max_speed_fullstep(self, max_speed_fullstep):
+    def max_speed_fullstep(self, max_speed_fullstep:int):
         """_max_speed_fullstep setter"""
         self.set_max_speed_fullstep(max_speed_fullstep)
 
@@ -159,7 +159,7 @@ def accerlation(self):
         return self._acceleration
 
     @accerlation.setter
-    def accerlation(self, accerlation):
+    def accerlation(self, accerlation:int):
         """_acceleration setter"""
         self.set_acceleration(accerlation)
 
@@ -169,7 +169,7 @@ def acceleration_fullstep(self):
         return self._acceleration
 
     @acceleration_fullstep.setter
-    def acceleration_fullstep(self, acceleration_fullstep):
+    def acceleration_fullstep(self, acceleration_fullstep:int):
         """_acceleration_fullstep setter"""
         self.set_acceleration_fullstep(acceleration_fullstep)