-- Raspberry Pi Build HAT Passive Motor Test

-- Copyright (C)2025, 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
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-- ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-- POSSIBILITY OF SUCH DAMAGE.

-- This test program requires the Raspberry Pi Build HAT and the python3 and
-- buildhat-python3 MuntsOS Embedded Linux extension packages.
--
-- Tested with a LEGOŽ Power Functions M-Motor 8883 connected to the Build HAT
-- with a PV-Productions Powered Up to Power Functions Adapter cable
-- (https://pv-productions.com/product/powered-up-to-power-functions-adapter).

WITH Ada.Text_IO; USE Ada.Text_IO;

WITH BuildHAT.PassiveMotor;
WITH Motor;

USE TYPE Motor.Velocity;

PROCEDURE test_buildhat_passivemotor IS

  dev  : BuildHAT.Device := BuildHAT.Create;
  outp : Motor.Output    := BuildHAT.PassiveMotor.Create(dev, BuildHAT.PortA);

BEGIN
  New_Line;
  Put_Line("Raspberry Pi Build HAT Passive Motor Test");
  New_Line;

  LOOP
    outp.Put(1.0);
    DELAY 5.0;
    outp.Put(0.0);
    DELAY 2.0;

    outp.Put(-1.0);
    DELAY 5.0;
    outp.Put(0.0);
    DELAY 2.0;
  END LOOP;
END test_buildhat_passivemotor;