#!/bin/sh

# random move 3-point local corrector around middle point

function rmove(){ # $1 - current motor index, $2 - index of motor to correct into+, $3 - relative steps
	arr=(2 10 11) # ID's of motors
	ID=${arr[$1]}
	#./steppermove -I$ID -w
	if [[ $1 -ne $2 ]]; then # move to minus
		./steppermove -I$ID -a $(( 7200 - S ))
	else # move to plus
		./steppermove -I$ID -a $(( 7200 + S ))
	fi
}

trap "echo Exited!; exit;" SIGINT SIGTERM

while true; do
	I=$(( RANDOM % 3 ))
	S=$(( RANDOM % 1280 ))
	for i in 0 1 2; do
		rmove $i $I $S
	done
done