# SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries
# SPDX-License-Identifier: MIT

# This example uses an Adafruit Stepper and DC Motor FeatherWing to run a DC Motor.
#   https://www.adafruit.com/product/2927

import time

import busio

# Import the PCA9685 module. Available in the bundle and here:
#   https://github.com/adafruit/Adafruit_CircuitPython_PCA9685
from adafruit_pca9685 import PCA9685
from board import SCL, SDA

from adafruit_motor import motor

i2c = busio.I2C(SCL, SDA)

# Create a simple PCA9685 class instance for the Motor FeatherWing's default address.
pca = PCA9685(i2c, address=0x60)
pca.frequency = 100

# Motor 1 is channels 9 and 10 with 8 held high.
# Motor 2 is channels 11 and 12 with 13 held high.
# Motor 3 is channels 3 and 4 with 2 held high.
# Motor 4 is channels 5 and 6 with 7 held high.

# DC Motors generate electrical noise when running that can reset the microcontroller in extreme
# cases. A capacitor can be used to help prevent this. The demo uses motor 4 because it worked ok
# in testing without a capacitor.
# See here for more info: https://learn.adafruit.com/adafruit-motor-shield-v2-for-arduino/faq#faq-13
pca.channels[7].duty_cycle = 0xFFFF
motor4 = motor.DCMotor(pca.channels[5], pca.channels[6])
motor4.decay_mode = motor.SLOW_DECAY  # Set motor to active braking mode to improve performance

print("Forwards slow")
motor4.throttle = 0.5
print("throttle:", motor4.throttle)
time.sleep(1)

print("Forwards")
motor4.throttle = 1
print("throttle:", motor4.throttle)
time.sleep(1)

print("Backwards")
motor4.throttle = -1
print("throttle:", motor4.throttle)
time.sleep(1)

print("Backwards slow")
motor4.throttle = -0.5
print("throttle:", motor4.throttle)
time.sleep(1)

print("Stop")
motor4.throttle = 0
print("throttle:", motor4.throttle)
time.sleep(1)

print("Spin freely")
motor4.throttle = None
print("throttle:", motor4.throttle)

pca.deinit()