mirror of
https://github.com/eddyem/pusirobot.git
synced 2025-12-06 10:35:11 +03:00
47 lines
1006 B
Bash
Executable File
47 lines
1006 B
Bash
Executable File
#!/bin/bash
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CANID=11
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STPPERROT=12800
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function onlim(){
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eval $(steppermove -I11 -E3 | grep LIM1)
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echo $LIM1
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}
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if [[ $# != 1 ]]; then
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echo -e "Usage: $(basename $0) position\n\twhere 'position' is an angle [integer number!!!] from 0 to 360\t0 - limit switch position" >&2
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exit 1
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fi
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if (( $1 > 360 || $1 < 0 )); then
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echo "'position' should be from 0 360" >&2
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exit 1
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fi
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steppermove -I${CANID} -m1000
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if [[ $(onlim) == "1" ]]; then
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echo "Go out from limit switch"
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steppermove -I${CANID} -cA
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steppermove -I${CANID} -r -$((STPPERROT / 4)) -w
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steppermove -I${CANID} -E3 -m1000
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if (( $(onlim) == 1 )); then
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echo "TURRET is on limit switch, rotate it first!" >&2
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exit 1
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fi
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fi
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echo "Go to limit switch"
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steppermove -I${CANID} -E3 -r -$STPPERROT -w
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steppermove -I${CANID} -cA -w
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if (( $1 != 0 )); then
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STP=$(printf %.0f $(echo "12800/360*$1 + 31" | bc -l))
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STP=$(( STP/32*32 ))
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echo "Go to angle $1"
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steppermove -I${CANID} -r -$STP -w
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fi
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echo "OK, at place!"
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steppermove -I${CANID} -E3
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