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servo: This patch create ability to enable/disable attached servo. (#880)

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Cheap mechanical servos have small flickering. When this servo stay on one position, this flickering slowly destroy internal potentiometer and make servo unusable. Many mechanisms need servo only to change position. Therefore I create this minor path to enable/disable servo. It stop pulses for this servo, that's all.

Corresponding G-code is:
SET_SERVO SERVO=config_name [WIDTH=] [ENABLE=<0|1>]
SET_SERVO SERVO=config_name [ANGLE=] [ENABLE=<0|1>]

For example:
SET_SERVO SERVO=touch ANGLE=80 ENABLE=1 ; enable servo and set position
G4 P200 ; wait 200ms
SET_SERVO SERVO=touch ENABLE=0 ; disable servo

This patch add one option to servo configuration:
enable: <False/True> # default True

It not have impact to user code existing already because it is optional parameter and default value is same as original behavior.

Signed-off-by: Jiri Dobry <jdobry@centrum.cz>
This commit is contained in:
Jiri Dobry 2018-11-14 15:38:09 +01:00 • committed by KevinOConnor
parent 31730fa031
commit e541466591
3 changed files with 21 additions and 7 deletions
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20
klippy/extras/servo.py
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@ -23,6 +23,8 @@ 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]
self.gcode = self.printer.lookup_object('gcode')
self.gcode.register_mux_command("SET_SERVO", "SERVO", servo_name,
@ -49,11 +51,15 @@ class PrinterServo:
print_time = toolhead.get_last_move_time()
self._set_pwm(print_time, self.initial_pwm_value)
def _set_pwm(self, print_time, value):
if value == self.last_value:
if value == self.last_value and self.enable == self.last_enable:
return
print_time = max(print_time, self.last_value_time + PIN_MIN_TIME)
self.mcu_servo.set_pwm(print_time, value)
if self.enable:
self.mcu_servo.set_pwm(print_time, value)
else:
self.mcu_servo.set_pwm(print_time, 0)
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))
@ -65,12 +71,18 @@ class PrinterServo:
cmd_SET_SERVO_help = "Set servo angle"
def cmd_SET_SERVO(self, params):
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
if 'ENABLE' in params:
value = self.gcode.get_int('ENABLE', params)
self.enable = value != 0
if 'WIDTH' in params:
self._set_pwm(print_time, self._get_pwm_from_pulse_width(
self.gcode.get_float('WIDTH', params)))
else:
self._set_pwm(print_time, self._get_pwm_from_angle(
self.gcode.get_float('ANGLE', params)))
if 'ANGLE' in params:
self._set_pwm(print_time, self._get_pwm_from_angle(
self.gcode.get_float('ANGLE', params)))
else:
self._set_pwm(print_time, self.last_value)
def load_config_prefix(config):
return PrinterServo(config)