#M101
#!/bin/bash
# file to turn on left side clamps in sequence
clamp=${1%.*}
unclamp=${2%.*}
LEFT_PIN_VALUE=$(halcmd getp conv-float-u32.0.in)

if [ "$LEFT_PIN_VALUE" = "$clamp" ]; then
     echo "already clamped exiting"
     exit 0
fi

mask1=$(( (clamp & 24) | unclamp ))
mask2=$(( (clamp & 3) | unclamp ))
mask3=$(( (clamp & 27) | unclamp ))

halcmd sets left-clamp-fl $mask1
sleep .500 ;# wait for clamps to move
halcmd sets left-clamp-fl $unclamp
sleep .500 ;# wait for clamps to move
halcmd sets left-clamp-fl $mask2
sleep .500 ;# wait for clamps to move
halcmd sets left-clamp-fl $unclamp
sleep .500 ;# wait for clamps to move
halcmd sets left-clamp-fl $mask3
sleep .500 ;# wait for clamps to move
halcmd sets left-clamp-fl $clamp

exit 0

