// Motor Output Test Using PWM (speed) and GPIO (direction) Outputs

// Copyright (C)2018-2023, 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.

using static System.Console;
using static System.Threading.Thread;

namespace test_motor_pwm1
{
    class Program
    {
        static void Main()
        {
            WriteLine("\nMotor Output Test Using PWM (speed) and GPIO (direction) Outputs\n");

            var desg_GPIO = new IO.Objects.SimpleIO.Device.Designator("Enter GPIO pin channel:   ");
            var desg_PWM  = new IO.Objects.SimpleIO.Device.Designator("Enter PWM output channel: ");

            // Create GPIO pin object

            IO.Interfaces.GPIO.Pin GPIO0 =
                new IO.Objects.SimpleIO.GPIO.Pin(desg_GPIO,
                    IO.Interfaces.GPIO.Direction.Output);

            // Create PWM output object

            IO.Interfaces.PWM.Output PWM0 =
                new IO.Objects.SimpleIO.PWM.Output(desg_PWM, 100);

            // Create motor object

            IO.Interfaces.Motor.Output Motor0 =
                new IO.Objects.Motor.PWM.Output(GPIO0, PWM0);

            // Sweep motor velocity up and down

            WriteLine("\nPress CONTROL-C to exit");

            for (;;)
            {
                int n;

                for (n = -100; n < 100; n++)
                {
                    Motor0.velocity = n / 100.0;
                    Sleep(50);
                }

                for (n = 100; n >= -100; n--)
                {
                    Motor0.velocity = n / 100.0;
                    Sleep(50);
                }
            }
        }
    }
}