#! /bin/python3

# 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
# buildhat-python3 MuntsOS Embedded Linux extension packages.
#
# Tested with a LEGO® 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).

import buildhat
import time

print('\nRaspberry Pi Build HAT Passive Motor Test\n')

M0 = buildhat.PassiveMotor('A')
M0.plimit(1.0)

while True:
  M0.start(100)
  time.sleep(5)
  M0.stop()
  time.sleep(2)

  M0.start(-100)
  time.sleep(5)
  M0.stop()
  time.sleep(2)