-- Test program for the Adafruit Motor Hat for the Raspberry Pi

-- Copyright (C)2016-2024, 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.

WITH Ada.Text_IO; USE Ada.Text_IO;

WITH Adafruit_MotorHat;
WITH Motor;

USE TYPE Motor.Velocity;

PROCEDURE test_adafruit_motorhat IS

  Motors : ARRAY (AdaFruit_MotorHat.MotorIds) OF Motor.Output;

BEGIN
  Put_Line("Adafruit Motor Hat Test");
  New_Line;

  Adafruit_MotorHat.Init(50);

  FOR m IN Motors'Range LOOP
    Motors(m) := AdaFruit_MotorHat.Create(m);
  END LOOP;

  LOOP
    Put_Line("Clockwise...");

    Motors(Adafruit_MotorHat.M1).Put(0.2);
    Motors(Adafruit_MotorHat.M2).Put(0.4);
    Motors(Adafruit_MotorHat.M3).Put(0.6);
    Motors(Adafruit_MotorHat.M4).Put(0.8);

    DELAY 5.0;

    Put_Line("Counterclockwise...");

    Motors(Adafruit_MotorHat.M1).Put(-0.2);
    Motors(Adafruit_MotorHat.M2).Put(-0.4);
    Motors(Adafruit_MotorHat.M3).Put(-0.6);
    Motors(Adafruit_MotorHat.M4).Put(-0.8);

    DELAY 5.0;
  END LOOP;

END test_adafruit_motorhat;