-- Continuous Rotation Servo Test -- Copyright (C)2020-2023, 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 Motor.Servo; WITH PWM.RemoteIO; WITH RemoteIO.Client.hidapi; WITH Servo.PWM; PROCEDURE test_motor_servo IS remdev : RemoteIO.Client.Device; pwmchan : RemoteIO.ChannelNumber; outp : Motor.Output; BEGIN Put_Line("Continuous Rotation Servo Test"); New_Line; -- Open the remote I/O device remdev := RemoteIO.Client.hidapi.Create; Put("Enter PWM channel number: "); Get(pwmchan); -- Create motor object outp := Motor.Servo.Create(Servo.PWM.Create(PWM.RemoteIO.Create(remdev, pwmchan, 50))); -- Sweep the motor velocity back and forth FOR d IN Integer RANGE -100 .. 100 LOOP outp.Put(Motor.Velocity(Float(d)/100.0)); DELAY 0.05; END LOOP; FOR d IN REVERSE Integer RANGE -100 .. 100 LOOP outp.Put(Motor.Velocity(Float(d)/100.0)); DELAY 0.05; END LOOP; END test_motor_servo;