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servo: Adding support for startup value for servos (#676) 

Signed-off-by: Chris Whiteford <github@chrisandtennille.com>
This commit is contained in:
Chris Whiteford 2018-10-05 14:35:38 -04:00 committed by KevinOConnor
parent 852d1666bb
commit c5d94a74a5
2 changed files with 34 additions and 9 deletions
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9
config/example-extras.cfg
View File

@ -465,6 +465,15 @@
# The maximum pulse width time (in seconds). This should correspond
# with an angle of maximum_servo_angle. The default is 0.002
# seconds.
#initial_angle: 70
# Initial angle to set the servo to when the mcu resets. Must be between
# 0 and maximum_servo_angle This parameter is optional. If both
# initial_angle and initial_pulse_width are set initial_angle will be used.
#initial_pulse_width: 0.0015
# Initial pulse width time (in seconds) to set the servo to when
# 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
# Statically configured digital output pins (one may define any number

34
klippy/extras/servo.py
View File

@ -28,28 +28,44 @@ class PrinterServo:
self.gcode.register_mux_command("SET_SERVO", "SERVO", servo_name,
self.cmd_SET_SERVO,
desc=self.cmd_SET_SERVO_help)
def set_pwm(self, print_time, value):
self.initial_pwm_value = None
#Check to see if an initial angle or pulse width is configured and
# set it as required
initial_angle = config.getfloat('initial_angle', None, minval=0., maxval=360.)
if initial_angle != None:
self.initial_pwm_value = self._get_pwm_from_angle(initial_angle)
else:
initial_pulse_width = config.getfloat('initial_pulse_width', None, minval=self.min_width, maxval=self.max_width)
if initial_pulse_width != None:
self.initial_pwm_value = self._get_pwm_from_pulse_width(initial_pulse_width)
def printer_state(self, state):
if state == 'ready':
if self.initial_pwm_value != None:
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
self._set_pwm(print_time, self.initial_pwm_value)
def _set_pwm(self, print_time, value):
if value == self.last_value:
return
print_time = max(print_time, self.last_value_time + PIN_MIN_TIME)
self.mcu_servo.set_pwm(print_time, value)
self.last_value = value
self.last_value_time = print_time
def set_angle(self, print_time, angle):
def _get_pwm_from_angle(self, angle):
angle = max(0., min(self.max_angle, angle))
width = self.min_width + angle * self.angle_to_width
self.set_pwm(print_time, width * self.width_to_value)
def set_pulse_width(self, print_time, 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))
self.set_pwm(print_time, width * self.width_to_value)
return width * self.width_to_value
cmd_SET_SERVO_help = "Set servo angle"
def cmd_SET_SERVO(self, params):
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
if 'WIDTH' in params:
self.set_pulse_width(print_time,
self.gcode.get_float('WIDTH', params))
self._set_pwm(print_time, self._get_pwm_from_pulse_width(
self.gcode.get_float('WIDTH', params)))
else:
self.set_angle(print_time, self.gcode.get_float('ANGLE', params))
self._set_pwm(print_time, self._get_pwm_from_angle(
self.gcode.get_float('ANGLE', params)))
def load_config_prefix(config):
return PrinterServo(config)