Control an Advanced Micro Systems SAX/DAX stepper motor controller

Usage:  stepit.pl [options] commandspec(s)

  Options:
    -verbose       Describe what StepIt is doing
    -debug         Used for debugging StepIt
    -commdev       Specify device to use for communications, or "none"
                   (default is usually /dev/ttyS0)
    -skipsleep[=N] Say how long we would have slept but really sleep only N
                   seconds (default 5) - useful (only) for testing/debugging
    -nowait        Don't wait for commands to complete - continue immediately
    -noexec        Don't actually execute any "exec" commands
    -notreally     Same as "-commdev none -skipsleep -noexec"; useful for
                   testing your StepIt scripts

  Commandspec(s): any one or more of the following in any order:
    -do <command>
    <file_of_commands>
    -reset        (immediate version of "-do reset")
    -abort        (immediate version of "-do abort")
    -softabort    (immediate version of "-do softabort")

  Command: any of the following:
    reset         Send ^C to hard-reset the controller
    abort         Send ESC to immediately halt any current motion
    softabort     Send @ to decelerate and halt
    set X N       Set parameter X to N
                  ex. "set i 20" or "set k 50,10"
    include FILE  Read and execute commands from FILE and then continue
    sleep TIME [TIME...]
                  Sleep for TIME, where TIME is one or more of:
                      Wd    W days
                      Xh    X hours
                      Ym    Y minutes
                      Zs    Z seconds
                  ex. "sleep 20m" or "sleep 1h 37m 29s" or "sleep 7d"
    sleep until ABSTIME
                  Sleep until the specified absolute time, where ABSTIME is in
                  one of the following forms:
                      DD/MM/YYYY HH:MM:SS
                      DD/MM/YYYY HH:MM:SS am
                      DD/MM/YYYY HH:MM:SS pm
                      HH:MM:SS
                      HH:MM:SS am
                      HH:MM:SS pm
                  ex. "sleep until 14/06/2004 13:02:51"
                  or "sleep until 1:03 pm"
                  *** IMPORTANT NOTES: ***
                   * Dates are in the European format: day first followed by
                     month followed by year, NOT the US format (month first
                     followed by day).
                   * If no date is specified, then either the current or next
                     day is assumed, as follows: If the time specified has
                     already passed for the current day, then it is assumed to
                     refer to the next day; otherwise, the current day is
                     assumed.
                   * You may use a 24-hour clock (00:00 - 23:59) OR am/pm.
                     Specify a time like "14:02 pm" at your own risk.
    go home       Find the home position - may not work in some situations
    go up DIST    See go down DIST, below
    go down DIST  Move down distance DIST from the current position, where
                  DIST is one of:
                      Ncm   N centimeters
                      Nin   N inches
                      Nst   N steps
                  ex. "go up 20cm" or "go down 36in" or "go up 1001st"
    go to POS     Go to an absolute position relative to the origin, where
                  POS has the same syntax as DIST, above
    send STEPCMD  Send literal STEPCMD to the stepper controller directly with
                  no interpretation or modification
                  ex. "send m300"
    sendq QCMD    Same as "send" except expects (and displays) a response
                  ex. "sendq x"
    exec UNIXCMD  Execute literal UNIXCMD by passing it to the system shell
                  ex. "exec dvgrab -frames 100000000000000000000000001"