-- Motor Output Test using PWM (speed) and GPIO (direction) outputs -- 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 Ada.Integer_Text_IO; USE Ada.Integer_Text_IO; WITH GPIO.RemoteIO; WITH Motor.PWM; WITH PWM.RemoteIO; WITH RemoteIO.Client.hidapi; PROCEDURE test_motor_pwm1 IS FREQ : CONSTANT Natural := 10000; VELOCITIES : CONSTANT Integer := 500; remdev : RemoteIO.Client.Device; pwmchan : RemoteIO.ChannelNumber; gpiochan : RemoteIO.ChannelNumber; motor0 : Motor.Output; BEGIN Put_Line("Motor Output Test"); New_Line; -- Open the remote I/O device remdev := RemoteIO.Client.hidapi.Create; Put("Enter PWM channel number: "); Get(pwmchan); Put("Enter GPIO channel number: "); Get(gpiochan); -- Create motor output object motor0 := Motor.PWM.Create(PWM.RemoteIO.Create(remdev, pwmchan, FREQ), GPIO.RemoteIO.Create(remdev, gpiochan, GPIO.Output)); -- Sweep the motor velocity up and down FOR v IN Integer RANGE 0 .. VELOCITIES LOOP motor0.Put(Motor.Velocity(Float(v)/Float(VELOCITIES))); DELAY 0.05; END LOOP; FOR v IN REVERSE Integer RANGE -VELOCITIES .. VELOCITIES LOOP motor0.Put(Motor.Velocity(Float(v)/Float(VELOCITIES))); DELAY 0.05; END LOOP; FOR v IN Integer RANGE -VELOCITIES .. 0 LOOP motor0.Put(Motor.Velocity(Float(v)/Float(VELOCITIES))); DELAY 0.05; END LOOP; END test_motor_pwm1;