-- Test a stepper motor driven with an Allegro A4988 Stepper 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 Ada.Integer_Text_IO; WITH A4988; WITH GPIO.RemoteIO; WITH RemoteIO.Client.hidapi; WITH Stepper; USE TYPE Stepper.Steps; PROCEDURE test_stepper_a4988 IS remdev : RemoteIO.Client.Device; steps : Stepper.Steps; rate : Stepper.Rate; stepchan : RemoteIO.ChannelNumber; dirchan : RemoteIO.ChannelNumber; StepPin : GPIO.Pin; DirPin : GPIO.Pin; outp : Stepper.Output; BEGIN New_Line; Put_Line("A4988 Stepper Motor Driver Test"); New_Line; -- Open the remote I/O device remdev := RemoteIO.Client.hidapi.Create; Put("Enter the number of steps per rotation: "); Stepper.Steps_IO.Get(steps); Put("Enter the default step rate: "); Stepper.Rate_IO.Get(rate); Put("Enter STEP signal GPIO channel number: "); Ada.Integer_Text_IO.Get(stepchan); Put("Enter DIR signal GPIO channel number: "); Ada.Integer_Text_IO.Get(dirchan); New_Line; StepPin := GPIO.RemoteIO.Create(remdev, stepchan, GPIO.Output, False); DirPin := GPIO.RemoteIO.Create(remdev, dirchan, GPIO.Output, False); outp := A4988.Create(steps, rate, StepPin, DirPin); LOOP Put("Steps: "); Stepper.Steps_IO.Get(steps); EXIT WHEN steps = 0; outp.Put(steps); END LOOP; END test_stepper_a4988;