-- Test a stepper 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.Stepper; WITH I2C; WITH MCP2221.I2C; WITH MCP2221.hidapi; WITH Stepper; USE TYPE Stepper.Steps; PROCEDURE test_grove_tb6612_stepper_move IS bus : I2C.Bus; dev : Grove_TB6612.Device; steps : Stepper.Steps; rate : Stepper.Rate; outp : Stepper.Output; BEGIN New_Line; Put_Line("Grove TB6612 Stepper Motor Move 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 stepper motor output object Put("Enter the number of steps per rotation: "); Stepper.Steps_IO.Get(steps); Put("Enter the default step rate: "); Stepper.Rate_IO.Get(rate); outp := Grove_TB6612.Stepper.Create(dev, steps, rate); LOOP Put("Steps: "); Stepper.Steps_IO.Get(steps); EXIT WHEN steps = 0; outp.Put(steps); END LOOP; END test_grove_tb6612_stepper_move;