I think someone wired up a dildo to act as input device before, but that’s not what this library is concerned with. Pretty sure Buttplug (the library by qDot that this wraps) only does output.
I’m currently working on adapting support for “linear” features which includes advanced strokers and also fucking machines. The latter may be what you’re looking for if you want to move a dildo back and forth, but they’re usually large pieces of furniture and quite expensive.