testmotor

#!/bin/bash -u           
# Script_name     : testmotor
# Author          : Bert Lindeman
# Description     : Fiddle a bit with a connected motor
# Version         : v1.3
# Date            : 2014-11-04
# Usage           : testmotor
# Notes           : One parameter (optional): the number of the tacho-motor
#                   to be exercised.
# Copyright       : 2014 Bert Lindeman
# License         : GPL-3.0+
#
#============================================================================
#
# Changelog        
# Date     By       Description
# 20141104 BL       prepare for release v1.3
# 20140914 BL       o Add new attribute (3.16.1) encoder_mode
#                   o small cleanup
# 20140826 BL       o add script header
#                   o check for missing or too many argument(s)
#
#============================================================================

if [ "$#" -gt 1 ]; then
    echo "$0 ERROR: Too many parameters"
    exit
fi
   
if [ "$#" == "0" ]; then
  MOTORPATH=/sys/class/tacho-motor/motor0
else
  MOTORPATH=/sys/class/tacho-motor/motor$1
fi
#
showStateS () {
 for (( i=1; i<=5; i++ ))
 do
  printf "%14s: %5d  " "duty_cycle_sp"     "`cat  $MOTORPATH/duty_cycle_sp`"
  printf "%8s: %10s  " "state"             "`cat  $MOTORPATH/state`"
  printf "%12s: %9s  " "encoder_mode"      "`cat  $MOTORPATH/encoder_mode`"
  printf "%18s: %6d  " "position"          "`cat  $MOTORPATH/position`"
  printf "%16s: %6d\n" "pulses_per_second" "`cat  $MOTORPATH/pulses_per_second`"
  sleep 0.2
 done
}

echo "Working with motorpath: $MOTORPATH"
if [ -e $MOTORPATH/ ]; then
        echo   1 > $MOTORPATH/reset
        ## DUTY_SP_VAR=duty_cycle_sp
        echo -e "\t\t==== regulation_mode OFF"
        echo   off > $MOTORPATH/regulation_mode
        echo   0 > $MOTORPATH/duty_cycle_sp
        echo   1 > $MOTORPATH/run
        showStateS
        sleep 0.1
        echo  25 > $MOTORPATH/duty_cycle_sp
        showStateS
        sleep 0.7
        echo -e "\t\t==== encoder_mode inverted "
        echo  inverted > $MOTORPATH/encoder_mode
        showStateS
        sleep 0.7
        echo  50 > $MOTORPATH/duty_cycle_sp
        showStateS
        sleep 0.7
        echo -e "\t\t==== duty_cycle_sp to negative "
        echo -50 > $MOTORPATH/duty_cycle_sp
        showStateS
        echo -e "\t\t==== regulation_mode ON  || duty_cycle_sp to zero encoder_mode normal "
        echo  normal > $MOTORPATH/encoder_mode
        echo   on > $MOTORPATH/regulation_mode
        echo 0 > $MOTORPATH/duty_cycle_sp
        sleep 0.2
        showStateS
        echo  500 > $MOTORPATH/pulses_per_second_sp
        sleep 0.2
        showStateS
        echo  300 > $MOTORPATH/pulses_per_second_sp
        sleep 0.2
        showStateS
        echo  100 > $MOTORPATH/pulses_per_second_sp
        sleep 0.2
        showStateS
        echo -300 > $MOTORPATH/pulses_per_second_sp
        sleep 0.2
        showStateS
        sleep 0.7
        echo   0 > $MOTORPATH/run
        sleep 0.2
        showStateS
else
 echo -e "Path for motor does not exist: $MOTORPATH"
fi