// 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
// 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.

// This test program requires the Raspberry Pi Build HAT and the python3 and
// python3-buildhat 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).

using Iot.Device.BuildHat;
using Iot.Device.BuildHat.Models;
using Iot.Device.BuildHat.Motors;

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

WriteLine("\nRaspberry Pi Build HAT Passive Motor Test\n");

var brick = new Brick("/dev/ttyAMA0");
brick.WaitForSensorToConnect(SensorPort.PortA);

var M0 = (PassiveMotor) brick.GetMotor(SensorPort.PortA);
M0.SetPowerLimit(1.0);
M0.SetBias(0.0);
M0.Start(100);

for (;;)
{
  M0.SetSpeed(100);
  Sleep(5000);
  M0.SetSpeed(0);
  Sleep(2000);

  M0.SetSpeed(-100);
  Sleep(5000);
  M0.SetSpeed(0);
  Sleep(2000);
}