#! /usr/bin/python3

# Motor Driver Output Test using libsimpleio

# Copyright (C)2024, 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.

import munts.devices.motor1
import munts.libsimpleio.gpio
import munts.libsimpleio.pwm

from munts.common import irange
from munts.interfaces.gpio import Direction
from munts.libsimpleio.raspberrypi import GPIO13, PWM0
from time import sleep

print("\nMotor Driver Output Test using libsimpleio\n")

# Create PWM output object for speed control

speed = munts.libsimpleio.pwm.Output(PWM0, 1000)

# Create GPIO output pin object for direction control

direction = munts.libsimpleio.gpio.Pin(GPIO13, Direction.Output)

# Create a motor driver output object

outp = munts.devices.motor1.Output(speed, direction)

# Sweep velocity up and down

for V in irange(0, 100, 1):
  outp.velocity = float(V/100.0)
  sleep(0.05)

for V in irange(100, -100, -1):
  outp.velocity = float(V/100.0)
  sleep(0.05)

for V in irange(-100, 0, 1):
  outp.velocity = float(V/100.0)
  sleep(0.05)