#!/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"