#%TITLE% mvc.mac
#%NAME%
#  Move a motor continuously towards its limit switches
#
#%CATEGORY% Positioning
#%END%

def mvc '{
  local motmne direction which_limit key

  if ($# < 2) {
     print "Usage:  mvc motor direction"
     print "        direction could be + (or 1, upper limit) or - (or 0, lower limit)"
     exit
  }

  motmne = "$1"
  direction = "$2"
  motnum = motor_num(motmne)

  if (motnum == -1) {
     print "Invalid Spec motor : " motmne
     exit
  }

  if (direction == "+" || direction > 0) {
    direction = 1
    which_limit = "upper limit"
  } else if (direction == "-" || direction <= 0) {
    direction = 0
    which_limit = "lower limit"
  } else {
    print "Invalid direction ; should be + (or 1, upper limit) or - (or 0, lower limit)"
    exit
  }

  printf("hit any key to start move to %s\n", which_limit)

  while( (key=input(-1)) == "" ) {}
  sleep(1)

  _mvc(motmne, direction, key)  
}'


def _mvc(motmne, direction, key) '{
   global _MVC_CONTINUE_MOVING
   local motnum backlash pos waitkey

   motnum = motor_num(motmne)

   if (motnum == -1) {
     return
   }
 
   _MVC_CONTINUE_MOVING = 1

   backlash = motor_par(motnum, "backlash") / motor_par(motnum, "step_size")

   if (direction == 1) {
     # upper limit
     pos = user(motnum, get_lim(motnum, 1)) - backlash 
   } else {
     pos = user(motnum, get_lim(motnum, -1)) + backlash
   }

   if (key != "") {
     waitkey = 1
   } else {
     waitkey = 0
   }

   A[motnum] = pos
   move_em

   while ((_MVC_CONTINUE_MOVING == 1) && (wait(0x20))) {
     if (waitkey == 1) {
       key = input(-1)
       if (key == "") {
         break
       }
       while (input(-1)) {}
       print "."
     }
     sleep(0.1)
   }

   stop(1)
}'