Set the DAC to its mid-scale code. This is to allow the source and input capacitors to settle before the DRV8662 is fully enabled. At the same time (or on the next available processor cycle), transition the DRV8662 enable pin from logic low to logic high.
Wait 2 ms to ensure that the DRV8662 circuitry is fully enabled and settled.
Begin and complete playback of the haptic waveform. The haptic waveform should end with a mid-scale DAC code to bring the differential output back to 0 V.
Transition the DRV8662 enable pin from high to low and power down the DAC source.