mirror of https://github.com/Desuuuu/klipper.git
servo: Remove servo ENABLE parameter
Allow one to disable servos via `SET_SERVO WIDTH=0` instead of using an explicit ENABLE parameter. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
parent
122fd88c6a
commit
428a8d4881
|
@ -1254,9 +1254,6 @@
|
|||
# the mcu resets. Must be between minimum_pulse_width and maximum_pulse_width.
|
||||
# This parameter is optional. If both initial_angle and initial_pulse_width
|
||||
# are set initial_angle will be used
|
||||
#enable: True
|
||||
# Enable or disable servo. It can be enabled or disabled later using
|
||||
# SET_SERVO SERVO=my_servo ENABLE=<0|1> g-command. The default is True (=enabled)
|
||||
|
||||
# Neopixel (aka WS2812) LED support (one may define any number of
|
||||
# sections with a "neopixel" prefix). One may set the LED color via
|
||||
|
|
|
@ -6,6 +6,10 @@ All dates in this document are approximate.
|
|||
|
||||
# Changes
|
||||
|
||||
20200725: The servo `enable` config parameter and the SET_SERVO
|
||||
`ENABLE` parameter have been removed. Update any macros to use
|
||||
`SET_SERVO SERVO=my_servo WIDTH=0` to disable a servo.
|
||||
|
||||
20200608: The LCD display support has changed the name of some
|
||||
internal "glyphs". If a custom display layout was implemented it may
|
||||
be necessary to update to the latest glyph names (see
|
||||
|
|
|
@ -258,8 +258,9 @@ sections are enabled:
|
|||
|
||||
The following commands are available when a "servo" config section is
|
||||
enabled:
|
||||
- `SET_SERVO SERVO=config_name [WIDTH=<seconds>] [ENABLE=<0|1>]`
|
||||
- `SET_SERVO SERVO=config_name [ANGLE=<degrees>] [ENABLE=<0|1>]`
|
||||
- `SET_SERVO SERVO=config_name [ANGLE=<degrees> | WIDTH=<seconds>]`:
|
||||
Set the servo position to the given angle (in degrees) or pulse
|
||||
width (in seconds). Use `WIDTH=0` to disable the servo output.
|
||||
|
||||
## Manual stepper Commands
|
||||
|
||||
|
|
|
@ -23,8 +23,6 @@ class PrinterServo:
|
|||
self.angle_to_width = (self.max_width - self.min_width) / self.max_angle
|
||||
self.width_to_value = 1. / SERVO_SIGNAL_PERIOD
|
||||
self.last_value = self.last_value_time = 0.
|
||||
self.enable = config.getboolean('enable', True)
|
||||
self.last_enable = not self.enable
|
||||
servo_name = config.get_name().split()[1]
|
||||
gcode = self.printer.lookup_object('gcode')
|
||||
gcode.register_mux_command("SET_SERVO", "SERVO", servo_name,
|
||||
|
@ -53,37 +51,29 @@ class PrinterServo:
|
|||
def get_status(self, eventtime):
|
||||
return {'value': self.last_value}
|
||||
def _set_pwm(self, print_time, value):
|
||||
if value == self.last_value and self.enable == self.last_enable:
|
||||
if value == self.last_value:
|
||||
return
|
||||
print_time = max(print_time, self.last_value_time + PIN_MIN_TIME)
|
||||
if self.enable:
|
||||
self.mcu_servo.set_pwm(print_time, value)
|
||||
else:
|
||||
self.mcu_servo.set_pwm(print_time, 0)
|
||||
self.mcu_servo.set_pwm(print_time, value)
|
||||
self.last_value = value
|
||||
self.last_enable = self.enable
|
||||
self.last_value_time = print_time
|
||||
def _get_pwm_from_angle(self, angle):
|
||||
angle = max(0., min(self.max_angle, angle))
|
||||
width = self.min_width + angle * self.angle_to_width
|
||||
return width * self.width_to_value
|
||||
def _get_pwm_from_pulse_width(self, width):
|
||||
width = max(self.min_width, min(self.max_width, width))
|
||||
if width:
|
||||
width = max(self.min_width, min(self.max_width, width))
|
||||
return width * self.width_to_value
|
||||
cmd_SET_SERVO_help = "Set servo angle"
|
||||
def cmd_SET_SERVO(self, gcmd):
|
||||
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
|
||||
enable = gcmd.get_int('ENABLE', None)
|
||||
width = gcmd.get_float('WIDTH', None)
|
||||
angle = gcmd.get_float('ANGLE', None)
|
||||
if enable is not None:
|
||||
self.enable = enable != 0
|
||||
if width is not None:
|
||||
self._set_pwm(print_time, self._get_pwm_from_pulse_width(width))
|
||||
elif angle is not None:
|
||||
self._set_pwm(print_time, self._get_pwm_from_angle(angle))
|
||||
else:
|
||||
self._set_pwm(print_time, self.last_value)
|
||||
angle = gcmd.get_float('ANGLE')
|
||||
self._set_pwm(print_time, self._get_pwm_from_angle(angle))
|
||||
|
||||
def load_config_prefix(config):
|
||||
return PrinterServo(config)
|
||||
|
|
Loading…
Reference in New Issue