From 94b483cda6c80a6f676ac468281f70e943c97c7f Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Sun, 3 Dec 2023 20:43:55 +0300
Subject: [PATCH] Transfer fullMotorTest function to motors.ino

---
 flix/cli.ino         |  2 +-
 flix/motors.ino      | 12 ++++++++
 flix/test_motors.ino | 67 --------------------------------------------
 gazebo/flix.h        |  2 +-
 4 files changed, 14 insertions(+), 69 deletions(-)
 delete mode 100644 flix/test_motors.ino

diff --git a/flix/cli.ino b/flix/cli.ino
index 3f5bdd2..fd74e85 100644
--- a/flix/cli.ino
+++ b/flix/cli.ino
@@ -98,7 +98,7 @@ void doCommand(String& command, String& value)
 	} else if (command == "mrl") {
 		cliTestMotor(MOTOR_REAR_LEFT);
 	} else if (command == "fullmot") {
-		fullMotorTest(value.toInt());
+		fullMotorTest(value.toInt(), false);
 	} else {
 		float val = value.toFloat();
 		// TODO: on error returns 0, check invalid value
diff --git a/flix/motors.ino b/flix/motors.ino
index cd20229..cddbd00 100644
--- a/flix/motors.ino
+++ b/flix/motors.ino
@@ -61,3 +61,15 @@ void sendMotors()
 	ledcWrite(2, pwmToDutyCycle(getPWM(motors[2], 2)));
 	ledcWrite(3, pwmToDutyCycle(getPWM(motors[3], 3)));
 }
+
+void fullMotorTest(int n, bool reverse)
+{
+	printf("Full test for motor %d\n", n);
+	for (int pwm = PWM_NEUTRAL; pwm <= 2300 && pwm >= 700; pwm += reverse ? -100 : 100) {
+		printf("Motor %d: %d\n", n, pwm);
+		ledcWrite(n, pwmToDutyCycle(pwm));
+		delay(3000);
+	}
+	printf("Motor %d: %d\n", n, PWM_NEUTRAL);
+	ledcWrite(n, pwmToDutyCycle(PWM_NEUTRAL));
+}
diff --git a/flix/test_motors.ino b/flix/test_motors.ino
deleted file mode 100644
index 35765df..0000000
--- a/flix/test_motors.ino
+++ /dev/null
@@ -1,67 +0,0 @@
-// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
-// Repository: https://github.com/okalachev/flix
-
-void _pwm(int n, uint16_t pwm)
-{
-	printf("Motor %d: %d\n", n, pwm);
-	ledcWrite(n, pwmToDutyCycle(pwm));
-	delay(5000);
-}
-
-void fullMotorTest(int n)
-{
-	printf("> Full test for motor %d\n", n);
-	bool reverse = false;
-	if (reverse) {
-		// _pwm(n, 700);
-		// _pwm(n, 800);
-		// _pwm(n, 900);
-		// _pwm(n, 1000);
-		// _pwm(n, 1100);
-		// _pwm(n, 1200);
-		// _pwm(n, 1300);
-		// _pwm(n, 1400);
-		// _pwm(n, 1410);
-		// _pwm(n, 1420);
-		// _pwm(n, 1430);
-		// _pwm(n, 1440);
-		// _pwm(n, 1450);
-		// _pwm(n, 1460);
-		// _pwm(n, 1470);
-		// _pwm(n, 1480);
-		// _pwm(n, 1490);
-	}
-	_pwm(n, 1500);
-	// _pwm(n, 1510);
-	// _pwm(n, 1520);
-	// _pwm(n, 1530);
-	// _pwm(n, 1540);
-	// _pwm(n, 1550);
-	// _pwm(n, 1560);
-	// _pwm(n, 1570);
-	// _pwm(n, 1580);
-	// _pwm(n, 1590);
-	_pwm(n, 1600);
-	_pwm(n, 1700);
-	_pwm(n, 1800);
-	_pwm(n, 1900);
-	_pwm(n, 2000);
-	_pwm(n, 2100);
-	_pwm(n, 2200);
-	_pwm(n, 2300);
-	_pwm(n, 1500);
-}
-
-void fullMotorsTest()
-{
-	printf("Perform full motors test\n");
-	motors[0] = 0;
-	motors[1] = 0;
-	motors[2] = 0;
-	motors[3] = 0;
-
-	fullMotorTest(0);
-	fullMotorTest(1);
-	fullMotorTest(2);
-	fullMotorTest(3);
-}
diff --git a/gazebo/flix.h b/gazebo/flix.h
index 174998c..1d98c65 100644
--- a/gazebo/flix.h
+++ b/gazebo/flix.h
@@ -45,6 +45,6 @@ void cliTestMotor(uint8_t n);
 void setLED(bool on) {};
 void calibrateGyro() { printf("Skip gyro calibrating\n"); };
 void calibrateAccel() { printf("Skip accel calibrating\n"); };
-void fullMotorTest(int n) {};
+void fullMotorTest(int n, bool reverse) { printf("Skip full motor test\n"); };
 void sendMotors() {};
 void printIMUCal() { printf("cal: N/A\n"); };