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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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46
klippy/gcode.py
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@ -4,7 +4,7 @@
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import os, re, logging, collections
import homing, extruder
import homing, extruder, chipmisc
# Parse out incoming GCode and find and translate head movements
class GCodeParser:
@ -81,7 +81,7 @@ class GCodeParser:
for eventtime, data in self.input_log:
logging.info("Read %f: %s" % (eventtime, repr(data)))
# Parse input into commands
args_r = re.compile('([a-zA-Z_]+|[a-zA-Z*])')
args_r = re.compile('([A-Z_]+|[A-Z*])')
def process_commands(self, commands, need_ack=True):
prev_need_ack = self.need_ack
for line in commands:
@ -91,17 +91,17 @@ class GCodeParser:
if cpos >= 0:
line = line[:cpos]
# Break command into parts
parts = self.args_r.split(line)[1:]
params = { parts[i].upper(): parts[i+1].strip()
parts = self.args_r.split(line.upper())[1:]
params = { parts[i]: parts[i+1].strip()
for i in range(0, len(parts), 2) }
params['#original'] = origline
if parts and parts[0].upper() == 'N':
if parts and parts[0] == 'N':
# Skip line number at start of command
del parts[:2]
if not parts:
self.cmd_default(params)
continue
params['#command'] = cmd = parts[0].upper() + parts[1].strip()
params['#command'] = cmd = parts[0] + parts[1].strip()
# Invoke handler for command
self.need_ack = need_ack
handler = self.gcode_handlers.get(cmd, self.cmd_default)
@ -187,6 +187,22 @@ class GCodeParser:
if default is not None:
return default
raise error("Error on '%s': missing %s" % (params['#original'], name))
extended_r = re.compile(
r'^\s*(?:N[0-9]+\s*)?'
r'(?P<cmd>[a-zA-Z_][a-zA-Z_]+)(?:\s+|$)'
r'(?P<args>[^#*;]*?)'
r'\s*(?:[#*;].*)?$')
def get_extended_params(self, params):
m = self.extended_r.match(params['#original'])
if m is None:
# Not an "extended" command
return params
eargs = m.group('args')
try:
eparams = [earg.split('=', 1) for earg in eargs.split()]
return { k.upper(): v for k, v in eparams }
except ValueError as e:
raise error("Malformed command '%s'" % (params['#original'],))
# Temperature wrappers
def get_temp(self):
if not self.is_printer_ready:
@ -278,8 +294,8 @@ class GCodeParser:
'G1', 'G4', 'G20', 'G28', 'G90', 'G91', 'G92',
'M82', 'M83', 'M18', 'M105', 'M104', 'M109', 'M112', 'M114', 'M115',
'M140', 'M190', 'M106', 'M107', 'M206', 'M400',
'IGNORE', 'QUERY_ENDSTOPS', 'PID_TUNE', 'RESTART', 'FIRMWARE_RESTART',
'ECHO', 'STATUS', 'HELP']
'IGNORE', 'QUERY_ENDSTOPS', 'PID_TUNE', 'SET_SERVO',
'RESTART', 'FIRMWARE_RESTART', 'ECHO', 'STATUS', 'HELP']
cmd_G1_aliases = ['G0']
def cmd_G1(self, params):
# Move
@ -444,6 +460,20 @@ class GCodeParser:
temp = self.get_float('S', params)
heater.start_auto_tune(temp)
self.bg_temp(heater)
cmd_SET_SERVO_help = "Set servo angle"
def cmd_SET_SERVO(self, params):
params = self.get_extended_params(params)
name = params.get('SERVO')
if name is None:
raise error("Error on '%s': missing SERVO" % (params['#original'],))
s = chipmisc.get_printer_servo(self.printer, name)
if s is None:
raise error("Servo not configured")
print_time = self.toolhead.get_last_move_time()
if 'WIDTH' in params:
s.set_pulse_width(print_time, self.get_float('WIDTH', params))
return
s.set_angle(print_time, self.get_float('ANGLE', params))
def prep_restart(self):
if self.is_printer_ready:
self.respond_info("Preparing to restart...")