mirror of
https://github.com/eddyem/pusirobot.git
synced 2025-12-06 02:25:10 +03:00
43 lines
1.0 KiB
Bash
Executable File
43 lines
1.0 KiB
Bash
Executable File
#!/bin/bash
|
|
|
|
CANID=11
|
|
STPPERROT=6400
|
|
# positions: amount of steps for each turret position
|
|
POSITIONS=(4224 5291 6357 7424 8491 9557)
|
|
|
|
function onlim(){
|
|
eval $(steppermove -I11 -E3 | grep LIM1)
|
|
echo $LIM1
|
|
}
|
|
|
|
if [[ $# != 1 ]]; then
|
|
echo -e "Usage: $(basename $0) position\n\twhere 'position' is a number from 0 to 5\t0 is closed diaphragm" >&2
|
|
exit 1
|
|
fi
|
|
|
|
if (( $1 > 5 || $1 < 0 )); then
|
|
echo "'position' should be from 0 (closed) to 5" >&2
|
|
exit 1
|
|
fi
|
|
|
|
steppermove -I${CANID} -m400
|
|
if [[ $(onlim) == 1 ]]; then
|
|
echo "Go out from limit switch"
|
|
steppermove -I${CANID} -cA
|
|
steppermove -I${CANID} -m1000 -r $((STPPERROT / 4)) -w
|
|
steppermove -I${CANID} -m400
|
|
if (( $(onlim) == 1 )); then
|
|
echo "ROTATOR is on limit switch, rotate it first!" >&2
|
|
exit 1
|
|
fi
|
|
fi
|
|
|
|
echo "Go to limit switch"
|
|
steppermove -I${CANID} -E3 -r $STPPERROT -w
|
|
steppermove -I${CANID} -cA -w
|
|
|
|
echo "Go to position $1"
|
|
steppermove -I${CANID} -r ${POSITIONS[$1]} -w
|
|
|
|
echo "OK, at place!"
|
|
steppermove -I${CANID} -E3 |