-- MUNTS-0018 Tutorial I/O Board Cytron MD13S Motor Driver Test

-- 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 MUNTS_0018.PWM;
WITH Motor;

PROCEDURE test_motor_md13s IS

  FREQ        : CONSTANT Natural := 10000;
  VELOCITIES  : CONSTANT Integer := 500;

  motor1 : Motor.Output;

BEGIN
  New_Line;
  Put_Line("MUNTS-0018 Tutorial I/O Board Cytron MD13S Motor Driver Test");
  New_Line;

  -- Create motor output object

  motor1 := MUNTS_0018.PWM.Create_MD13S_Output(MUNTS_0018.J6, FREQ);

  -- Sweep the motor velocity up and down

  FOR v IN Integer RANGE 0 .. VELOCITIES LOOP
    motor1.Put(Motor.Velocity(Float(v)/Float(VELOCITIES)));
    DELAY 0.05;
  END LOOP;

  FOR v IN REVERSE Integer RANGE -VELOCITIES .. VELOCITIES LOOP
    motor1.Put(Motor.Velocity(Float(v)/Float(VELOCITIES)));
    DELAY 0.05;
  END LOOP;

  FOR v IN Integer RANGE -VELOCITIES .. 0 LOOP
    motor1.Put(Motor.Velocity(Float(v)/Float(VELOCITIES)));
    DELAY 0.05;
  END LOOP;END test_motor_md13s;