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