#!/bin/bash

CANID=11
STPPERROT=12800

function onlim(){
	eval $(steppermove -I11 -E3 | grep LIM1)
	echo $LIM1
}


if [[ $# != 1 ]]; then
	echo -e "Usage: $(basename $0) position\n\twhere 'position' is an angle [integer number!!!] from 0 to 360\t0 - limit switch position" >&2
	exit 1
fi

if (( $1 > 360 || $1 < 0 )); then
	echo "'position' should be from 0 360" >&2
	exit 1
fi

steppermove -I${CANID} -m1000 
if [[ $(onlim) == "1" ]]; then
	echo "Go out from limit switch"
	steppermove -I${CANID} -cA
	steppermove -I${CANID} -r -$((STPPERROT / 4)) -w
	steppermove -I${CANID} -E3 -m1000
	if (( $(onlim) == 1 )); then
		echo "TURRET is on limit switch, rotate it first!" >&2
		exit 1
	fi
fi

echo "Go to limit switch"
steppermove -I${CANID} -E3 -r -$STPPERROT -w
steppermove -I${CANID} -cA -w

if (( $1 != 0 )); then
	STP=$(printf %.0f $(echo "12800/360*$1 + 31" | bc -l))
	STP=$(( STP/32*32 ))
	echo "Go to angle $1"
	steppermove -I${CANID} -r -$STP -w
fi

echo "OK, at place!"
steppermove -I${CANID} -E3