Fixed some mypy errors.

examples/basic_motion.py

@@ -11,6 +11,7 @@
 
 import numpy as np
 
+from opensourceleg.actuators.base import CONTROL_MODES
 from opensourceleg.actuators.dephy import DephyActuator
 from opensourceleg.time import SoftRealtimeLoop
 from opensourceleg.units import units
@@ -53,17 +54,17 @@ def make_periodic_trajectory(period, minimum, maximum):
 
     input("Homing complete: Press enter to continue")
 
-    knee.set_control_mode(knee.CONTROL_MODES.POSITION)
-    ankle.set_control_mode(ankle.CONTROL_MODES.POSITION)
+    knee.set_control_mode(CONTROL_MODES.POSITION)
+    ankle.set_control_mode(CONTROL_MODES.POSITION)
     knee.set_position_gains(kp=5)
     ankle.set_position_gains(kp=5)
 
     for t in clock:
         knee.update()
         ankle.update()
 
-        knee_setpoint = units.convert_to_default(knee_traj(t), units.position.deg)
-        ankle_setpoint = units.convert_to_default(ankle_traj(t), units.position.deg)
+        knee_setpoint = units.convert_to_default(knee_traj(t), units.Position.deg)
+        ankle_setpoint = units.convert_to_default(ankle_traj(t), units.Position.deg)
 
         knee.set_output_position(knee_setpoint)
         ankle.set_output_position(ankle_setpoint)

opensourceleg/actuators/dephy.py

@@ -314,7 +314,7 @@ def home(
                     to create one. The encoder map is used to estimate joint position more accurately."
             )
 
-    def make_encoder_map(self, overwrite=False) -> None:
+    def make_encoder_map(self, overwrite: bool = False) -> None:
         """
         This method makes a lookup table to calculate the position measured by the joint encoder.
         This is necessary because the magnetic output encoders are nonlinear.
@@ -332,11 +332,11 @@ def make_encoder_map(self, overwrite=False) -> None:
 
         if not self.is_homed:
             LOGGER.warning(msg=f"[{self.__repr__()}] Please home the {self.tag} joint before making the encoder map.")
-            return
+            return None
 
         if os.path.exists(f"./{self.tag}_encoder_map.npy") and not overwrite:
             LOGGER.info(msg=f"[{self.__repr__()}] Encoder map exists. Skipping encoder map creation.")
-            return
+            return None
 
         self.set_control_mode(mode=CONTROL_MODES.CURRENT)
         self.set_current_gains()
@@ -370,7 +370,7 @@ def make_encoder_map(self, overwrite=False) -> None:
 
         except KeyboardInterrupt:
             LOGGER.warning(msg="Encoder map interrupted.")
-            return
+            return None
 
         LOGGER.info(msg=f"[{self.__repr__()}] You may now stop moving the {self.tag} joint.")
 
@@ -418,7 +418,7 @@ def set_output_torque(self, value: float) -> None:
     def set_motor_current(
         self,
         value: float,
-    ):
+    ) -> None:
         """
         Sets the motor current in mA.
 
@@ -601,12 +601,12 @@ def set_motor_impedance(
             ff=ff,
         )
 
-    def set_encoder_map(self, encoder_map) -> None:
+    def set_encoder_map(self, encoder_map: np.polynomial.polynomial.Polynomial) -> None:
         """Sets the joint encoder map"""
-        self._encoder_map = encoder_map
+        self._encoder_map: np.polynomial.polynomial.Polynomial = encoder_map
 
     @property
-    def encoder_map(self):
+    def encoder_map(self) -> Optional[np.polynomial.polynomial.Polynomial]:
         """Polynomial coefficients defining the joint encoder map from counts to radians."""
         if getattr(self, "_encoder_map", None) is not None:
             return self._encoder_map
@@ -777,7 +777,7 @@ def winding_temperature(self) -> float:
             return 0.0
 
     @property
-    def genvars(self):
+    def genvars(self) -> np.ndarray:
         """Dephy's 'genvars' object."""
         if self._data is not None:
             return np.array(
@@ -1072,7 +1072,7 @@ def update(self) -> None:
     def set_motor_current(
         self,
         value: float,
-    ):
+    ) -> None:
         """
         Sets the motor current in mA.
 
@@ -1297,7 +1297,7 @@ def winding_temperature(self) -> float:
             return 0.0
 
     @property
-    def genvars(self):
+    def genvars(self) -> np.ndarray:
         """Dephy's 'genvars' object."""
         if self._data is not None:
             return np.array(
@@ -1387,19 +1387,19 @@ def gyroy(self) -> float:
             return 0.0
 
     @property
-    def is_streaming(self):
+    def is_streaming(self) -> bool:
         return self._is_streaming
 
     @is_streaming.setter
-    def is_streaming(self, value: bool):
+    def is_streaming(self, value: bool) -> None:
         self._is_streaming = value
 
     @property
-    def is_open(self):
+    def is_open(self) -> bool:
         return self._is_open
 
     @is_open.setter
-    def is_open(self, value: bool):
+    def is_open(self, value: bool) -> None:
         self._is_open = value
 
     @property

opensourceleg/actuators/moteus.py

@@ -274,7 +274,7 @@ async def update(self):
 
         self._command = self.make_query()
 
-    def home(self):
+    def home(self) -> None:
         # TODO: implement homing
         LOGGER.info(msg=f"[{self.__repr__()}] Homing not implemented.")
 
@@ -309,7 +309,7 @@ def set_joint_torque(self, value: float) -> None:
     def set_motor_current(
         self,
         value: float,
-    ):
+    ) -> None:
         LOGGER.info("Current Mode Not Implemented")
 
     def set_motor_velocity(self, value: float) -> None:

opensourceleg/collections/validators.py

@@ -1,19 +1,20 @@
 from abc import ABC, abstractmethod
+from typing import Any
 
 
 class Validator(ABC):
-    def __set_name__(self, owner, name):
+    def __set_name__(self, owner, name) -> None:
         self.private_name = f"_{name}"
 
-    def __get__(self, instance, objtype=None):
+    def __get__(self, instance, objtype=None) -> Any:
         return getattr(instance, self.private_name)
 
-    def __set__(self, instance, value):
+    def __set__(self, instance, value) -> None:
         self.validate(value)
         setattr(instance, self.private_name, value)
 
     @abstractmethod
-    def validate(self, value):
+    def validate(self, value) -> None:
         pass
 
 
@@ -22,7 +23,7 @@ def __init__(self, min_value=None, max_value=None) -> None:
         self.min_value = min_value
         self.max_value = max_value
 
-    def validate(self, value):
+    def validate(self, value) -> None:
         if not isinstance(value, (int, float)):
             raise TypeError("Value must be an int or float")
 
@@ -38,7 +39,7 @@ def validate(self, value):
     class Gains:
         kp = Number(0, 100)
 
-        def __init__(self, price):
+        def __init__(self, price) -> None:
             self.kp = price
 
     g = Gains(200)

opensourceleg/robots/osl.py

@@ -13,20 +13,20 @@
 
 
 class OpenSourceLeg(RobotBase[TActuator, TSensor]):
-    def start(self):
+    def start(self) -> None:
         super().start()
 
-    def stop(self):
+    def stop(self) -> None:
         super().stop()
 
-    def update(self):
+    def update(self) -> None:
         super().update()
 
-    def home(self):
+    def home(self) -> None:
         for actuator in self.actuators.values():
             actuator.home()
 
-    def make_encoder_maps(self):
+    def make_encoder_maps(self) -> None:
         pass
 
     @property

opensourceleg/safety/safety.py

@@ -6,7 +6,7 @@
 
 
 class ThermalLimitException(Exception):
-    def __init__(self, message="Software thermal limit exceeded. Exiting."):
+    def __init__(self, message="Software thermal limit exceeded. Exiting.") -> None:
         self.message = message
         super().__init__(self.message)
 
@@ -16,7 +16,7 @@ def is_changing(
     max_points: int = 10,
     threshold: float = 1e-6,
     proxy_attribute_name: Optional[str] = None,
-):
+) -> Callable:
     """
     Creates a decorator to check if a property's value is changing.
     If the standard deviation of the last 'max_points' values is less than 'threshold',
@@ -65,7 +65,7 @@ def wrapper(instance, *args, **kwargs):
     return decorator
 
 
-def is_negative(clamp: bool = False):
+def is_negative(clamp: bool = False) -> Callable:
     """
     Creates a decorator to check if a property's value is negative.
 

opensourceleg/units/units.py

@@ -33,63 +33,63 @@
 
 
 class Force(float, Enum):
-    N: 1.0
-    lbf: 4.4482216152605
-    kgf: 9.80665
+    N = 1.0
+    lbf = 4.4482216152605
+    kgf = 9.80665
 
 
 class Torque(float, Enum):
-    N_m: 1.0
-    lbf_inch: 0.1129848290276167
-    kgf_cm: 0.0980665
+    N_m = 1.0
+    lbf_inch = 0.1129848290276167
+    kgf_cm = 0.0980665
 
 
 class Stiffness(float, Enum):
-    N_m_per_rad: 1.0
-    N_m_per_deg: 0.017453292519943295
+    N_m_per_rad = 1.0
+    N_m_per_deg = 0.017453292519943295
 
 
 class Damping(float, Enum):
-    N_m_per_rad_per_s: 1.0
-    N_m_per_deg_per_s: 0.017453292519943295
+    N_m_per_rad_per_s = 1.0
+    N_m_per_deg_per_s = 0.017453292519943295
 
 
 class Length(float, Enum):
-    m: 1.0
-    cm: 0.01
-    inch: 0.0254
+    m = 1.0
+    cm = 0.01
+    inch = 0.0254
 
 
 class Position(float, Enum):
-    rad: 1.0
-    deg: 0.017453292519943295
+    rad = 1.0
+    deg = 0.017453292519943295
 
 
 class Mass(float, Enum):
-    kg: 1.0
-    g: 0.001
-    lb: 0.45359237
+    kg = 1.0
+    g = 0.001
+    lb = 0.45359237
 
 
 class Velocity(float, Enum):
-    rad_per_s: 1.0
-    deg_per_s: 0.017453292519943295
-    rpm: 0.10471975511965977
+    rad_per_s = 1.0
+    deg_per_s = 0.017453292519943295
+    rpm = 0.10471975511965977
 
 
 class Acceleration(float, Enum):
-    rad_per_s2: 1.0
-    deg_per_s2: 0.017453292519943295
+    rad_per_s2 = 1.0
+    deg_per_s2 = 0.017453292519943295
 
 
 class Current(float, Enum):
-    mA: 1
-    A: 1000
+    mA = 1
+    A = 1000
 
 
 class Voltage(float, Enum):
-    mV: 1
-    V: 1000
+    mV = 1
+    V = 1000
 
 
 def convert_to_default(value: float, from_unit: float) -> float: