Add typehints

Still missing typehint for traceback argument in DCMotor.__exit__()

Author: tekktrik

adafruit_motor/motor.py

@@ -20,6 +20,12 @@
 * Author(s): Scott Shawcroft
 """
 
+try:
+    from typing import Optional, Type
+    from pwmio import PWMOut
+except ImportError:
+    pass
+
 __version__ = "0.0.0-auto.0"
 __repo__ = "https://github.com/adafruit/Adafruit_CircuitPython_Motor.git"
 
@@ -48,7 +54,7 @@ class DCMotor:
     :param ~pwmio.PWMOut negative_pwm: The motor input that causes the motor to spin backwards
       when high and the other is low."""
 
-    def __init__(self, positive_pwm, negative_pwm):
+    def __init__(self, positive_pwm: PWMOut, negative_pwm: PWMOut):
         self._positive = positive_pwm
         self._negative = negative_pwm
         self._throttle = None
@@ -63,7 +69,7 @@ def throttle(self):
         return self._throttle
 
     @throttle.setter
-    def throttle(self, value):
+    def throttle(self, value: Optional[float]):
         if value is not None and (value > 1.0 or value < -1.0):
             raise ValueError("Throttle must be None or between -1.0 and +1.0")
         self._throttle = value
@@ -98,7 +104,7 @@ def decay_mode(self):
         return self._decay_mode
 
     @decay_mode.setter
-    def decay_mode(self, mode=FAST_DECAY):
+    def decay_mode(self, mode: int = FAST_DECAY):
         if mode in (FAST_DECAY, SLOW_DECAY):
             self._decay_mode = mode
         else:
@@ -109,5 +115,5 @@ def decay_mode(self, mode=FAST_DECAY):
     def __enter__(self):
         return self
 
-    def __exit__(self, exception_type, exception_value, traceback):
+    def __exit__(self, exception_type: Optional[Type[type]], exception_value: Optional[BaseException], traceback): # TODO: Add traceback typing
         self.throttle = None

adafruit_motor/servo.py

@@ -12,6 +12,13 @@
 * Author(s): Scott Shawcroft
 """
 
+try:
+    from typing import Optional
+    from pwmio import PWMOut
+except ImportError:
+    pass
+
+
 __version__ = "0.0.0-auto.0"
 __repo__ = "https://github.com/adafruit/Adafruit_CircuitPython_Motor.git"
 
@@ -24,11 +31,11 @@ class _BaseServo:  # pylint: disable-msg=too-few-public-methods
     :param int min_pulse: The minimum pulse length of the servo in microseconds.
     :param int max_pulse: The maximum pulse length of the servo in microseconds."""
 
-    def __init__(self, pwm_out, *, min_pulse=750, max_pulse=2250):
+    def __init__(self, pwm_out: PWMOut, *, min_pulse: int = 750, max_pulse: int = 2250):
         self._pwm_out = pwm_out
         self.set_pulse_width_range(min_pulse, max_pulse)
 
-    def set_pulse_width_range(self, min_pulse=750, max_pulse=2250):
+    def set_pulse_width_range(self, min_pulse: int = 750, max_pulse: int = 2250):
         """Change min and max pulse widths."""
         self._min_duty = int((min_pulse * self._pwm_out.frequency) / 1000000 * 0xFFFF)
         max_duty = (max_pulse * self._pwm_out.frequency) / 1000000 * 0xFFFF
@@ -45,7 +52,7 @@ def fraction(self):
         return (self._pwm_out.duty_cycle - self._min_duty) / self._duty_range
 
     @fraction.setter
-    def fraction(self, value):
+    def fraction(self, value: Optional[float]):
         if value is None:
             self._pwm_out.duty_cycle = 0  # disable the motor
             return
@@ -85,7 +92,7 @@ class Servo(_BaseServo):
          Test carefully to find the safe minimum and maximum.
     """
 
-    def __init__(self, pwm_out, *, actuation_range=180, min_pulse=750, max_pulse=2250):
+    def __init__(self, pwm_out: PWMOut, *, actuation_range: int = 180, min_pulse: int = 750, max_pulse: int = 2250):
         super().__init__(pwm_out, min_pulse=min_pulse, max_pulse=max_pulse)
         self.actuation_range = actuation_range
         """The physical range of motion of the servo in degrees."""
@@ -100,7 +107,7 @@ def angle(self):
         return self.actuation_range * self.fraction
 
     @angle.setter
-    def angle(self, new_angle):
+    def angle(self, new_angle: Optional[int]):
         if new_angle is None:  # disable the servo by sending 0 signal
             self.fraction = None
             return
@@ -123,7 +130,7 @@ def throttle(self):
         return self.fraction * 2 - 1
 
     @throttle.setter
-    def throttle(self, value):
+    def throttle(self, value: float):
         if value > 1.0 or value < -1.0:
             raise ValueError("Throttle must be between -1.0 and 1.0")
         if value is None:

adafruit_motor/stepper.py

@@ -18,6 +18,13 @@
 
 from micropython import const
 
+try:
+    from typing import Union, Optional
+    from pwmio import PWMOut
+    from digitalio import DigitalInOut
+except ImportError:
+    pass
+
 __version__ = "0.0.0-auto.0"
 __repo__ = "https://github.com/adafruit/Adafruit_CircuitPython_Motor.git"
 
@@ -79,7 +86,7 @@ class StepperMotor:
     :param microsteps: set to `None`
     """
 
-    def __init__(self, ain1, ain2, bin1, bin2, *, microsteps=16):
+    def __init__(self, ain1: Union[PWMOut, DigitalInOut], ain2: Union[PWMOut, DigitalInOut], bin1: Union[PWMOut, DigitalInOut], bin2: Union[PWMOut, DigitalInOut], *, microsteps: Optional[int] = 16):
         if microsteps is None:
             #
             # Digital IO Pins
@@ -107,7 +114,7 @@ def __init__(self, ain1, ain2, bin1, bin2, *, microsteps=16):
         self._microsteps = microsteps
         self._update_coils()
 
-    def _update_coils(self, *, microstepping=False):
+    def _update_coils(self, *, microstepping: bool = False):
         if self._microsteps is None:
             #
             # Digital IO Pins
@@ -154,7 +161,7 @@ def release(self):
                 coil.duty_cycle = 0
 
     def onestep(
-        self, *, direction=FORWARD, style=SINGLE
+        self, *, direction: int = FORWARD, style: int = SINGLE
     ):  # pylint: disable=too-many-branches
         """Performs one step of a particular style. The actual rotation amount will vary by style.
         `SINGLE` and `DOUBLE` will normal cause a full step rotation. `INTERLEAVE` will normally