-- Adafruit Servo HAT Test -- 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_ServoHAT; WITH PCA9685.PWM; WITH Motor.Servo; WITH Servo.PWM; PROCEDURE test_adafruit_servohat IS dev : PCA9685.device RENAMES Adafruit_ServoHAT.dev; Servo0 : Servo.Output; -- Standard servo Servo1 : Motor.Output; -- Continuous rotation servo BEGIN Put_Line("Adafruit Servo HAT Test"); New_Line; -- Create servo objects Servo0 := Servo.PWM.Create(PCA9685.PWM.Create(dev, 0)); Servo1 := Motor.Servo.Create(Servo.PWM.Create(PCA9685.PWM.Create(dev, 1))); -- Move servo on channel 0 back and forth Put_Line("Move servo forward..."); FOR p IN Integer RANGE -100 .. 100 LOOP Servo0.Put(Servo.Position(Float(p)/100.0)); DELAY 0.02; END LOOP; Put_Line("Move servo reverse..."); FOR p IN REVERSE Integer RANGE -100 .. 100 LOOP Servo0.Put(Servo.Position(Float(p)/100.0)); DELAY 0.02; END LOOP; DELAY 1.0; -- Run continuous rotation servo on channel 1 Put_Line("Rotate servo forward..."); FOR v IN Integer RANGE 0 .. 100 LOOP Servo1.Put(Motor.Velocity(Float(v)/100.0)); DELAY 0.05; END LOOP; FOR v IN REVERSE Integer RANGE 0 .. 100 LOOP Servo1.Put(Motor.Velocity(Float(v)/100.0)); DELAY 0.05; END LOOP; Put_Line("Rotate servo reverse..."); FOR v IN Integer RANGE 0 .. 100 LOOP Servo1.Put(Motor.Velocity(Float(-v)/100.0)); DELAY 0.05; END LOOP; FOR v IN REVERSE Integer RANGE 0 .. 100 LOOP Servo1.Put(Motor.Velocity(Float(-v)/100.0)); DELAY 0.05; END LOOP; END test_adafruit_servohat;