#!/bin/bash

#
# usage: 
# 	robo { n | N }         - go to  null position
# 	robo a.b.c.d.e.f [-r]  - execute 'I' command with numerical parameters a..f
# 	                       - '.' is eqivalent to ','
#                          - values of '0' may be omitted e.g.: ..100... = 0,0,100,0,0,0
#                          - a trailing "-r" changes the sign of all the parameters
# 	robo Xn                - send arbitrary command
#

IFC=/dev/usblp0

case "$1" in 
        n|N) 
                echo "N" > $IFC
                ;;
        [-0-9,.]*)
                P=${1//./,}
                P=${P//,,/,0,}
                P=$( echo "$P" | sed 's/,$/,0/' )
                P=$( echo "$P" | sed 's/^,/0,/' )
                #echo "*$P*"
                P=$( echo "$P" | tr , '\n' )
                #echo "*$P*"
                if [ "$2" = "-r" ]; then 
                        P=$( 
                                echo "$P" | 
                                awk '
                                        # { print "-"$1"-" }
                                        $1 == 0 { print "0" }
                                        $1 != 0 { print $1 * -1 }
                                        ' |
                                tr '\n' ,  
                        )
                else 
                        P=$( 
                                echo "$P" | 
                                awk '
                                        # { print "+"$1"+" }
                                        $1 == 0 { print "0" }
                                        $1 != 0 { print $1 * 1 }
                                        ' |
                                tr '\n' ,  
                        )
                fi 
                P=${P%,}
                echo "I$P" > $IFC
                ;;
        *) 
                echo "$1" > $IFC
                ;;
esac