Add better reaction to -q keyword

commandline/cfg/Oscill

@@ -0,0 +1,22 @@
+#!/bin/bash
+
+Ampl=$1
+
+./steppermove -s250
+./steppermove -I1 -m4000
+./steppermove -I2 -m4000
+
+#if false; then
+./steppermove -I2 -qr-3000
+./steppermove -I1 -qr-3000
+./steppermove -I2 -qw -r500
+./steppermove -I1 -qr500
+./steppermove -I2 -qw
+#fi
+
+while true; do
+./steppermove -I2 -qwr${Ampl}
+./steppermove -I1 -qr${Ampl}
+./steppermove -I2 -qwr-${Ampl}
+./steppermove -I1 -qr-${Ampl}
+done

commandline/cfg/SetCurnt0.8.cfg

@@ -0,0 +1,8 @@
+# Transmit SDO to driver
+# Format: index, subindex, data
+
+# Set max phase current to 800mA
+0x600B, 0, 800
+
+# Save parameters
+0x2007, 0, 2

commandline/cfg/SetCurnt1.0.cfg

@@ -0,0 +1,8 @@
+# Transmit SDO to driver
+# Format: index, subindex, data
+
+# Set max phase current to 600mA
+0x600B, 0, 1000
+
+# Save parameters
+0x2007, 0, 2

commandline/cfg/SetCurnt1.5.cfg

@@ -0,0 +1,8 @@
+# Transmit SDO to driver
+# Format: index, subindex, data
+
+# Set max phase current to 600mA
+0x600B, 0, 1500
+
+# Save parameters
+0x2007, 0, 2

commandline/cfg/SetCurnt2.0.cfg

@@ -0,0 +1,8 @@
+# Transmit SDO to driver
+# Format: index, subindex, data
+
+# Set max phase current to 2A
+0x600B, 0, 2000
+
+# Save parameters
+0x2007, 0, 2

commandline/cfg/TurretMove

@@ -0,0 +1,37 @@
+#!/bin/bash
+
+function move(){
+	./steppermove -I4 $*
+}
+
+if [ $# -ne 1 ]; then
+	echo "Usage: $0 Nposition (enumeration from 0)" >&2
+	exit 1
+fi
+
+if [ $1 -lt 0 -o $1 -gt 5 ]; then
+	echo "Turet position should be from 0 to 5" >&2
+	exit 2
+fi
+
+LAST=-1
+[ -f lastpos ] && LAST=$(cat lastpos)
+
+eval "$(move -s250 -m50)"
+
+DIFF=$((CURENCODER - LAST))
+ABS=${DIFF#-}  # absoulte value
+
+if [ $ABS -gt 3 ]; then # goto zero if last position differs more then for 3 from current
+	move -cE1 -r-1000
+	move -wcA
+	move -0
+fi
+
+move -Fa $((683*$1))
+move -w
+
+sleep 1 # wait for stopping
+eval "$(move)"
+echo $CURENCODER > lastpos
+echo "Current encoder position: $CURENCODER"