-- Test a DC motor driven with a Grove TB6612 Motor Driver -- Copyright (C)2021-2023, Philip Munts dba Munts Technologies. -- -- Redistribution and use in source and binary forms, with or without -- modification, are permitted provided that the following conditions are met: -- -- * Redistributions of source code must retain the above copyright notice, -- this list of conditions and the following disclaimer. -- -- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -- AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -- IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -- ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE -- LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -- CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -- SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -- INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -- CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -- ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -- POSSIBILITY OF SUCH DAMAGE. WITH Ada.Text_IO; USE Ada.Text_IO; WITH Grove_TB6612.Motor; WITH I2C; WITH MCP2221.I2C; WITH MCP2221.hidapi; WITH Motor; PROCEDURE test_grove_tb6612_dcmotor IS bus : I2C.Bus; dev : Grove_TB6612.Device; outp : Motor.Output; BEGIN New_Line; Put_Line("Grove TB6612 DC Motor Test"); New_Line; -- Create I2C bus object bus := MCP2221.I2C.Create(MCP2221.hidapi.Create); -- Create Grove TB6612 device object dev := Grove_TB6612.Create(bus); -- Create motor output object outp := Grove_TB6612.Motor.Create(dev, Grove_TB6612.Motor.ChannelA); -- Ramp the motor speed up and down FOR d IN Integer RANGE 0 .. 255 LOOP outp.Put(Motor.Velocity(Float(d)/255.0)); DELAY 0.05; END LOOP; FOR d IN REVERSE Integer RANGE -255 .. 255 LOOP outp.Put(Motor.Velocity(Float(d)/255.0)); DELAY 0.05; END LOOP; FOR d IN Integer RANGE -255 .. 0 LOOP outp.Put(Motor.Velocity(Float(d)/255.0)); DELAY 0.05; END LOOP; END test_grove_tb6612_dcmotor;