3D-printing/klipper
1
0
Fork 0
mirror of https://github.com/Klipper3d/klipper.git synced 2025-08-10 07:15:10 -06:00
Code Issues Projects Releases Packages Wiki Activity Actions 2

servo: Remove servo ENABLE parameter

Browse source 
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:
Kevin O'Connor 2020-07-16 14:45:48 -04:00
parent 122fd88c6a
commit 428a8d4881
4 changed files with 13 additions and 21 deletions
Download patch file Download diff file Expand all files Collapse all files

22
klippy/extras/servo.py
View file

@ -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)