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Save memory by consolidating motor init code and lazy importing #1

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Merged
merged 1 commit into from
Jan 24, 2018
Merged

Save memory by consolidating motor init code and lazy importing #1

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48 changes: 23 additions & 25 deletions adafruit_featherwing/motor_featherwing.py
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Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,6 @@
__version__ = "0.0.0-auto.0"
__repo__ = "https://github.com/adafruit/Adafruit_CircuitPython_FeatherWing.git"

from adafruit_motor import motor, stepper
from adafruit_pca9685 import PCA9685

from adafruit_featherwing import shared
Expand All @@ -50,6 +49,23 @@ def __init__(self):
self._pca = PCA9685(shared.I2C_BUS, address=0x60)
self._pca.frequency = 1600

# We can save memory usage (~300 bytes) by deduplicating the construction of the objects for
# each motor. This saves both code size and the number of raw strings (the error message)
# stored. The same technique is a net loss for stepper because there is less duplication.
def _motor(self, motor_name, channels, stepper_name):
from adafruit_motor import motor
motor_name = "_motor" + str(motor_name)
stepper_name = "_stepper" + str(stepper_name)
if not getattr(self, motor_name):
if getattr(self, stepper_name):
raise RuntimeError(
"Cannot use {} at the same time as {}.".format(motor_name[1:],
stepper_name[1:]))
self._pca.channels[channels[0]].duty_cycle = 0xffff
setattr(self, motor_name, motor.DCMotor(self._pca.channels[channels[1]],
self._pca.channels[channels[2]]))
return getattr(self, motor_name)

@property
def motor1(self):
""":py:class:`~adafruit_motor.motor.DCMotor` controls for motor 1.
Expand All @@ -71,12 +87,7 @@ def motor1(self):

wing.motor1.throttle = 0
"""
if not self._motor1:
if self._stepper1:
raise RuntimeError("Cannot use motor1 at the same time as stepper1.")
self._pca.channels[8].duty_cycle = 0xffff
self._motor1 = motor.DCMotor(self._pca.channels[9], self._pca.channels[10])
return self._motor1
return self._motor(1, (8, 9, 10), 1)

@property
def motor2(self):
Expand All @@ -99,12 +110,7 @@ def motor2(self):

wing.motor2.throttle = 0
"""
if not self._motor2:
if self._stepper1:
raise RuntimeError("Cannot use motor2 at the same time as stepper1.")
self._pca.channels[13].duty_cycle = 0xffff
self._motor2 = motor.DCMotor(self._pca.channels[11], self._pca.channels[12])
return self._motor2
return self._motor(2, (13, 11, 12), 1)

@property
def motor3(self):
Expand All @@ -127,12 +133,7 @@ def motor3(self):

wing.motor3.throttle = 0
"""
if not self._motor3:
if self._stepper2:
raise RuntimeError("Cannot use motor3 at the same time as stepper2.")
self._pca.channels[2].duty_cycle = 0xffff
self._motor3 = motor.DCMotor(self._pca.channels[3], self._pca.channels[4])
return self._motor3
return self._motor(3, (2, 3, 4), 2)

@property
def motor4(self):
Expand All @@ -155,12 +156,7 @@ def motor4(self):

wing.motor4.throttle = 0
"""
if not self._motor4:
if self._stepper2:
raise RuntimeError("Cannot use motor4 at the same time as stepper2.")
self._pca.channels[7].duty_cycle = 0xffff
self._motor4 = motor.DCMotor(self._pca.channels[5], self._pca.channels[6])
return self._motor4
return self._motor(4, (7, 5, 6), 2)

@property
def stepper1(self):
Expand All @@ -181,6 +177,7 @@ def stepper1(self):
for i in range(100):
wing.stepper1.onestep()"""
if not self._stepper1:
from adafruit_motor import stepper
if self._motor1 or self._motor2:
raise RuntimeError("Cannot use stepper1 at the same time as motor1 or motor2.")
self._pca.channels[8].duty_cycle = 0xffff
Expand Down Expand Up @@ -209,6 +206,7 @@ def stepper2(self):
wing.stepper2.onestep()
"""
if not self._stepper2:
from adafruit_motor import stepper
if self._motor3 or self._motor4:
raise RuntimeError("Cannot use stepper2 at the same time as motor3 or motor4.")
self._pca.channels[7].duty_cycle = 0xffff
Expand Down