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gcode: Move SET_SERVO command from gcode.py to chipmisc.py

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Now that commands can be registered dynamically, move the code for
SET_SERVO from gcode.py to the PrinterServo() class in chipmisc.py.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-12-03 20:22:44 -05:00
parent b5a41d0dd1
commit bc9cbc8133
3 changed files with 25 additions and 19 deletions
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22
klippy/chipmisc.py
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@ -41,6 +41,7 @@ SERVO_SIGNAL_PERIOD = 0.020
class PrinterServo:
def __init__(self, printer, config):
self.printer = printer
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)
@ -53,6 +54,9 @@ 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.gcode = printer.objects['gcode']
self.gcode.register_command("SET_SERVO", self.cmd_SET_SERVO,
desc=self.cmd_SET_SERVO_help)
def set_pwm(self, print_time, value):
if value == self.last_value:
return
@ -60,7 +64,6 @@ class PrinterServo:
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
@ -68,9 +71,20 @@ class PrinterServo:
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)
cmd_SET_SERVO_help = "Set servo angle"
def cmd_SET_SERVO(self, params):
servo_name = self.gcode.get_str('SERVO', params)
servo = self.printer.objects.get('servo ' + servo_name)
if servo is not self:
if servo is None:
raise self.gcode.error("Servo not configured")
return servo.cmd_SET_SERVO(params)
print_time = self.printer.objects['toolhead'].get_last_move_time()
if 'WIDTH' in params:
self.set_pulse_width(print_time,
self.gcode.get_float('WIDTH', params))
else:
self.set_angle(print_time, self.gcode.get_float('ANGLE', params))
######################################################################