# macros concerning motors and movements
#
# hp 20.10.1999
# hp 21.10.1999 motor movement commands gmv, gmvr, ugmv, ugmvr implemented
# hp 02.12.1999 small errors solved 
# hp 28.07.2000 added brackets to macros to protect local variables
#
#
#
#
################################################################################
#
# _hp_mv
# hp 20.10.1999
#
# enters position motor should move to but dos not start moving 
#
################################################################################
#
def _hp_mv ' {
        if ($# != 2) {
                eprint "Usage:  mv motor position"
                exit
        }
        _check0 "$1"
        A[$1]=($2)
        ifp { fprintf(PRINTER,"\nmv $1 %g\n", A[$1]) }
} '
#
#
#
#
################################################################################
#
# _hp_mvr
# hp 21.10.1999
#
# enters relative position motor should move to but dos not start moving 
#
################################################################################
#
def _hp_mvr ' {
        if ($# != 2) {
                eprint "Usage:  mv motor position"
                exit
        }
        _check0 "$1"
        A[$1]+=($2)
        ifp { fprintf(PRINTER,"\nmv $1 %g\n", A[$1]) }
} '
#
#
#
#
################################################################################
#
# gmv
# hp 21.10.1999
#
# macro to move several motors at the same time, calls _gmv
#
################################################################################
#
def gmv '_gmv $*; move_poll'
#
#
#
#
################################################################################
#
# ugmv
# hp 21.10.1999
#
# macro to move several motors at the same time, calls _gmv
#
################################################################################
#
def ugmv '_gmv $*; hp_update_gmv $*'
#
#
#
#
################################################################################
#
# gmvr
# hp 21.10.1999
#
# macro to move several motors at the same time, calls _gmvr
#
################################################################################
#
def gmvr '_gmvr $*; move_poll'
#
#
#
#
################################################################################
#
# ugmvr
# hp 21.10.1999
#
# macro to move several motors at the same time, calls _gmvr
#
################################################################################
#
def ugmvr '_gmvr $*; hp_update_gmv $*'
#
#
#
#
################################################################################
#
# hp_update_gmv
# hp 21.10.1999
#
# update during motor moves, called by ugmv and ugmvr
#
################################################################################
#
def hp_update_gmv ' {
	local _hp_n
	_hp_n = $#
        if (_hp_n ==  2) {
		_update("$1")
	}
        if (_hp_n ==  4) {
		_update("$1 $3")
	}
        if (_hp_n ==  6) {
		_update("$1 $3 $5")
	}
        if (_hp_n ==  8) {
		_update("$1 $3 $5 $7")
	}
        if (_hp_n == 10) {
		_update("$1 $3 $5 $7 $9")
	}
        if (_hp_n == 12) {
		_update("$1 $3 $5 $7 $9 $11")
	}
        if (_hp_n == 14) {
		_update("$1 $3 $5 $7 $9 $11 $13")
	}
        if (_hp_n == 16) {
		_update("$1 $3 $5 $7 $9 $11 $13 $15")
	}
        if (_hp_n == 18) {
		_update("$1 $3 $5 $7 $9 $11 $13 $15 $17")
	}
        if (_hp_n == 20) {
		_update("$1 $3 $5 $7 $9 $11 $13 $15 $17 $19")
	}
} '
#
#
#
#
################################################################################
#
# _gmv
# hp 21.10.1999
#
# macro to move several motors at the same time, will be called by gmv and ugmv,
# should not be used directly
#
################################################################################
#
def _gmv ' {
	local _hp_n, _hp_max_n
	_hp_max_n = 10			# Maximum numbers of motors driven at the same time
	_hp_n     = $#
        if (_hp_n > 2*_hp_max_n) {
                printf("Not more than %i motors can be driven at the same time.", _hp_max_n)
                exit
        }
        if (_hp_n<2) {
                eprint "Usage:  gmv mot1 pos1 mot2 pos2 mot3 pos3 ..."
                exit
        }
        if (_hp_n/2 != int(_hp_n/2)) {
                eprint "Usage:  gmv mot1 pos1 mot2 pos2 mot3 pos3 ..."
                exit
        }
	waitmove; get_angles
        if (_hp_n >=  2) {
		_hp_mv  $1  $2
	}
        if (_hp_n >=  4) {
		_hp_mv  $3  $4
	}
        if (_hp_n >=  6) {
		_hp_mv  $5  $6
	}
        if (_hp_n >=  8) {
		_hp_mv  $7  $8
	}
        if (_hp_n >= 10) {
		_hp_mv  $9 $10
	}
        if (_hp_n >= 12) {
		_hp_mv $11 $12
	}
        if (_hp_n >= 14) {
		_hp_mv $13 $14
	}
        if (_hp_n >= 16) {
		_hp_mv $15 $16
	}
        if (_hp_n >= 18) {
		_hp_mv $17 $18
	}
        if (_hp_n >= 20) {
		_hp_mv $19 $20
	}
	move_em
} '
#
#
#
#
################################################################################
#
# _gmvr
# hp 21.10.1999
#
# macro to move several motors relative to their actual position at the same time, 
# will be called by gmvr and ugmvr, should not be used directly
#
################################################################################
#
def _gmvr ' {
	local _hp_n, _hp_max_n
	_hp_max_n = 10			# Maximum numbers of motors driven at the same time
	_hp_n     = $#
        if (_hp_n > 2*_hp_max_n) {
                printf("Not more than %i motors can be driven at the same time.", _hp_max_n)
                exit
        }
        if (_hp_n<2) {
                eprint "Usage:  gmvr mot1 pos1 mot2 pos2 mot3 pos3 ..."
                exit
        }
        if (_hp_n/2 != int(_hp_n/2)) {
                eprint "Usage:  gmvr mot1 pos1 mot2 pos2 mot3 pos3 ..."
                exit
        }
	waitmove; get_angles
        if (_hp_n >=  2) {
		_hp_mvr  $1  $2
	}
        if (_hp_n >=  4) {
		_hp_mvr  $3  $4
	}
        if (_hp_n >=  6) {
		_hp_mvr  $5  $6
	}
        if (_hp_n >=  8) {
		_hp_mvr  $7  $8
	}
        if (_hp_n >= 10) {
		_hp_mvr  $9 $10
	}
        if (_hp_n >= 12) {
		_hp_mvr $11 $12
	}
        if (_hp_n >= 14) {
		_hp_mvr $13 $14
	}
        if (_hp_n >= 16) {
		_hp_mvr $15 $16
	}
        if (_hp_n >= 18) {
		_hp_mvr $17 $18
	}
        if (_hp_n >= 20) {
		_hp_mvr $19 $20
	}
	move_em
} '
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