Kevinbot_Motors_Test.spin2

'' =================================================================================================
''
''   File....... Kevinbot_Motors_Test.spin2
''   Purpose.... Kevinbot v3 Motor Sweep Test
''   Notes...... Do not run when wheels are touching the ground
''   Author..... Kevin Ahr
''               Copyright (c) 2023 Kevin Ahr
''               -- see below for terms of use
''   Started.... 22 APR 2023
''
''   {$P2}
''
'' =================================================================================================


con { timing }

  CLK_FREQ = 200_000_000                                        ' system freq as a constant
  MS_001   = CLK_FREQ / 1_000                                   ' ticks in 1ms
  US_001   = CLK_FREQ / 1_000_000                               ' ticks in 1us

  _clkfreq = CLK_FREQ                                           ' set system clock


con { terminal }

  BR_TERM  = 230_400                                            ' terminal baud rate
  BR_RPI   = 230_400                                            ' raspberrypi / xbee baud rate

  #0, T_PST, T_ANSI                                             ' terminal types

  T_TYPE = T_PST

con { pins }

  BASE     = 0


obj
  
' main                                                          ' * master Spin cog     
  motor : "Kevinbot_Motors"

pub main() | i
  
  setup()

  repeat
    repeat i from -1000 to 1000
      motor.set_speed_a(i, 995)
      motor.set_speed_b(i, 995)
      waitms(5)
    repeat i from 1000 to -1000 
      motor.set_speed_a(i, 995)
      motor.set_speed_b(i, 995)      
      waitms(5)

pub setup()
  
  motor.start(BASE, 20, motor.M_TRI)
  motor.set_speed_limit(885)


con { license }

{{

  Terms of Use: MIT License

  Permission is hereby granted, free of charge, to any person obtaining a copy of this
  software and associated documentation files (the "Software"), to deal in the Software
  without restriction, including without limitation the rights to use, copy, modify,
  merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
  permit persons to whom the Software is furnished to do so, subject to the following
  conditions:

  The above copyright notice and this permission notice shall be included in all copies
  or substantial portions of the Software.

  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
  INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
  PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
  HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF
  CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
  OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

}}