-- 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.
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-- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-- AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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-- ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-- LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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WITH Ada.Text_IO; USE Ada.Text_IO;

WITH Grove_TB6612.Stepper;
WITH I2C;
WITH MCP2221.I2C;
WITH MCP2221.hidapi;
WITH Stepper;

PROCEDURE test_grove_tb6612_stepper_spin IS

  bus   : I2C.Bus;
  dev   : Grove_TB6612.Device;
  outp  : Grove_TB6612.Stepper.OutputClass;
  rate  : Stepper.Rate;

BEGIN
  New_Line;
  Put_Line("Grove TB6612 Stepper Motor Spin Test");
  New_Line;

  -- Create I2C bus object

  bus := MCP2221.I2C.Create(MCP2221.hidapi.Create);

  -- Create Grove TB6612 device object

  dev := Grove_TB6612.Create(bus);

  -- Initialize Grove TB6612 stepper motor object

  outp.Initialize(dev, 100, 100.0);

  LOOP
    Put("Rate: ");
    Stepper.Rate_IO.Get(rate);
    outp.Spin(rate);
  END LOOP;
END test_grove_tb6612_stepper_spin;