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initial condition:
Motor is homing from outside:
 C2 = 0 C1= 0
 MN = ?
 MF = XXXX steps (known) forward
 MB = XXXX steps (known) backward
 MO = XXXX steps (known) open position

Idle routine:
looking for where to go... (mod 2, mod 3, mod 4, fastopen, fastclose)

checkset subroutine
 check my pos:
   read C2 
   MN=MB, C2=MF +/- DELTA (dead band)
   RT

   MN=MF, C2=MB +/- DELTA (dead band)
   RT

   
   (MA MF and  MN=MF), C2=MO +/- DELTA (dead band)
   RT

   if I m in startup+:
     set next move to startup- (MB)
     return subroutine
   if I m in startup-:
     set next move to startup+ (MF)
     return subroutine 
   if I m open (MO):
     MA to startup+ (MF)
     set next move to startup- (MB)

mod 2
call chekset
waiting for trigger
...

mod 3
call chekset
waiting for trigger
...

mod 4
call chekset
waiting for trigger
...

fastopen
MA to open pos

fastclose
if in open pos
MA to startup+