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servo: Use GCodeRequestQueue to queue updates

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2024-08-16 14:00:24 -04:00
parent 7940a6a728
commit 28995a8bce
2 changed files with 20 additions and 12 deletions
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23
klippy/extras/servo.py
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@ -1,11 +1,11 @@
# Support for servos
#
# Copyright (C) 2017-2020 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2017-2024 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
from . import output_pin
SERVO_SIGNAL_PERIOD = 0.020
PIN_MIN_TIME = 0.100
class PrinterServo:
def __init__(self, config):
@ -18,7 +18,7 @@ class PrinterServo:
self.max_angle = config.getfloat('maximum_servo_angle', 180.)
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.last_value = 0.
initial_pwm = 0.
iangle = config.getfloat('initial_angle', None, minval=0., maxval=360.)
if iangle is not None:
@ -33,6 +33,9 @@ class PrinterServo:
self.mcu_servo.setup_max_duration(0.)
self.mcu_servo.setup_cycle_time(SERVO_SIGNAL_PERIOD)
self.mcu_servo.setup_start_value(initial_pwm, 0.)
# Create gcode request queue
self.gcrq = output_pin.GCodeRequestQueue(
config, self.mcu_servo.get_mcu(), self._set_pwm)
# Register commands
servo_name = config.get_name().split()[1]
gcode = self.printer.lookup_object('gcode')
@ -42,12 +45,10 @@ class PrinterServo:
def get_status(self, eventtime):
return {'value': self.last_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
if value != self.last_value:
self.last_value = value
self.mcu_servo.set_pwm(print_time, value)
return (True, 0.)
def _get_pwm_from_angle(self, angle):
angle = max(0., min(self.max_angle, angle))
width = self.min_width + angle * self.angle_to_width
@ -64,9 +65,7 @@ class PrinterServo:
else:
angle = gcmd.get_float('ANGLE')
value = self._get_pwm_from_angle(angle)
toolhead = self.printer.lookup_object('toolhead')
toolhead.register_lookahead_callback((lambda pt:
self._set_pwm(pt, value)))
self.gcrq.queue_gcode_request(value)
def load_config_prefix(config):
return PrinterServo(config)