mirror of https://github.com/Desuuuu/klipper.git
servo: Adding support for startup value for servos (#676)
Signed-off-by: Chris Whiteford <github@chrisandtennille.com>
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@ -465,6 +465,15 @@
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# The maximum pulse width time (in seconds). This should correspond
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# The maximum pulse width time (in seconds). This should correspond
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# with an angle of maximum_servo_angle. The default is 0.002
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# with an angle of maximum_servo_angle. The default is 0.002
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# seconds.
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# seconds.
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#initial_angle: 70
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# Initial angle to set the servo to when the mcu resets. Must be between
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# 0 and maximum_servo_angle This parameter is optional. If both
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# initial_angle and initial_pulse_width are set initial_angle will be used.
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#initial_pulse_width: 0.0015
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# Initial pulse width time (in seconds) to set the servo to when
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# the mcu resets. Must be between minimum_pulse_width and maximum_pulse_width.
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# This parameter is optional. If both initial_angle and initial_pulse_width
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# are set initial_angle will be used
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# Statically configured digital output pins (one may define any number
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# Statically configured digital output pins (one may define any number
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@ -28,28 +28,44 @@ class PrinterServo:
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self.gcode.register_mux_command("SET_SERVO", "SERVO", servo_name,
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self.gcode.register_mux_command("SET_SERVO", "SERVO", servo_name,
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self.cmd_SET_SERVO,
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self.cmd_SET_SERVO,
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desc=self.cmd_SET_SERVO_help)
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desc=self.cmd_SET_SERVO_help)
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def set_pwm(self, print_time, value):
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self.initial_pwm_value = None
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#Check to see if an initial angle or pulse width is configured and
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# set it as required
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initial_angle = config.getfloat('initial_angle', None, minval=0., maxval=360.)
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if initial_angle != None:
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self.initial_pwm_value = self._get_pwm_from_angle(initial_angle)
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else:
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initial_pulse_width = config.getfloat('initial_pulse_width', None, minval=self.min_width, maxval=self.max_width)
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if initial_pulse_width != None:
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self.initial_pwm_value = self._get_pwm_from_pulse_width(initial_pulse_width)
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def printer_state(self, state):
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if state == 'ready':
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if self.initial_pwm_value != None:
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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self._set_pwm(print_time, self.initial_pwm_value)
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def _set_pwm(self, print_time, value):
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if value == self.last_value:
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if value == self.last_value:
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return
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return
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print_time = max(print_time, self.last_value_time + PIN_MIN_TIME)
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print_time = max(print_time, self.last_value_time + PIN_MIN_TIME)
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self.mcu_servo.set_pwm(print_time, value)
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self.mcu_servo.set_pwm(print_time, value)
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self.last_value = value
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self.last_value = value
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self.last_value_time = print_time
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self.last_value_time = print_time
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def set_angle(self, print_time, angle):
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def _get_pwm_from_angle(self, angle):
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angle = max(0., min(self.max_angle, angle))
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angle = max(0., min(self.max_angle, angle))
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width = self.min_width + angle * self.angle_to_width
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width = self.min_width + angle * self.angle_to_width
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self.set_pwm(print_time, width * self.width_to_value)
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return width * self.width_to_value
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def set_pulse_width(self, print_time, width):
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def _get_pwm_from_pulse_width(self, width):
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width = max(self.min_width, min(self.max_width, width))
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width = max(self.min_width, min(self.max_width, width))
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self.set_pwm(print_time, width * self.width_to_value)
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return width * self.width_to_value
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cmd_SET_SERVO_help = "Set servo angle"
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cmd_SET_SERVO_help = "Set servo angle"
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def cmd_SET_SERVO(self, params):
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def cmd_SET_SERVO(self, params):
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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if 'WIDTH' in params:
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if 'WIDTH' in params:
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self.set_pulse_width(print_time,
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self._set_pwm(print_time, self._get_pwm_from_pulse_width(
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self.gcode.get_float('WIDTH', params))
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self.gcode.get_float('WIDTH', params)))
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else:
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else:
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self.set_angle(print_time, self.gcode.get_float('ANGLE', params))
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self._set_pwm(print_time, self._get_pwm_from_angle(
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self.gcode.get_float('ANGLE', params)))
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def load_config_prefix(config):
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def load_config_prefix(config):
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return PrinterServo(config)
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return PrinterServo(config)
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