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chipmisc: Add initial support for servos

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-06-06 15:04:01 -04:00
parent 3b4088c23f
commit 6dcc44ce2d
3 changed files with 100 additions and 8 deletions
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43
klippy/chipmisc.py
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@ -32,6 +32,47 @@ class PrinterStaticPWM:
mcu_pwm.setup_static_pwm(value / scale)
######################################################################
# Servos
######################################################################
SERVO_MIN_TIME = 0.100
SERVO_SIGNAL_PERIOD = 0.020
class PrinterServo:
def __init__(self, printer, config):
self.mcu_servo = pins.setup_pin(printer, 'pwm', config.get('pin'))
self.mcu_servo.setup_max_duration(0.)
self.mcu_servo.setup_cycle_time(SERVO_SIGNAL_PERIOD)
self.min_width = config.getfloat(
'minimum_pulse_width', .001, above=0., below=SERVO_SIGNAL_PERIOD)
self.max_width = config.getfloat(
'maximum_pulse_width', .002
, above=self.min_width, below=SERVO_SIGNAL_PERIOD)
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.
def set_pwm(self, print_time, value):
if value == self.last_value:
return
print_time = max(self.last_value_time + SERVO_MIN_TIME, print_time)
self.mcu_servo.set_pwm(print_time, value)
self.last_value = value
self.last_value_time = print_time
# External commands
def set_angle(self, print_time, 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):
width = max(self.min_width, min(self.max_width, width))
self.set_pwm(print_time, width * self.width_to_value)
def get_printer_servo(printer, name):
return printer.objects.get('servo ' + name)
######################################################################
# AD5206 digipot
######################################################################
@ -238,5 +279,7 @@ def add_printer_objects(printer, config):
printer.add_object(s.section, PrinterStaticDigitalOut(printer, s))
for s in config.get_prefix_sections('static_pwm_output '):
printer.add_object(s.section, PrinterStaticPWM(printer, s))
for s in config.get_prefix_sections('servo '):
printer.add_object(s.section, PrinterServo(printer, s))
for s in config.get_prefix_sections('ad5206 '):
printer.add_object(s.section, ad5206(printer, s))