servo: Remove servo ENABLE parameter
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>
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@ -1254,9 +1254,6 @@
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# the mcu resets. Must be between minimum_pulse_width and maximum_pulse_width.
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# This parameter is optional. If both initial_angle and initial_pulse_width
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# are set initial_angle will be used
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#enable: True
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# Enable or disable servo. It can be enabled or disabled later using
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# SET_SERVO SERVO=my_servo ENABLE=<0|1> g-command. The default is True (=enabled)
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# Neopixel (aka WS2812) LED support (one may define any number of
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# sections with a "neopixel" prefix). One may set the LED color via
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@ -6,6 +6,10 @@ All dates in this document are approximate.
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# Changes
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20200725: The servo `enable` config parameter and the SET_SERVO
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`ENABLE` parameter have been removed. Update any macros to use
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`SET_SERVO SERVO=my_servo WIDTH=0` to disable a servo.
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20200608: The LCD display support has changed the name of some
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internal "glyphs". If a custom display layout was implemented it may
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be necessary to update to the latest glyph names (see
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@ -258,8 +258,9 @@ sections are enabled:
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The following commands are available when a "servo" config section is
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enabled:
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- `SET_SERVO SERVO=config_name [WIDTH=<seconds>] [ENABLE=<0|1>]`
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- `SET_SERVO SERVO=config_name [ANGLE=<degrees>] [ENABLE=<0|1>]`
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- `SET_SERVO SERVO=config_name [ANGLE=<degrees> | WIDTH=<seconds>]`:
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Set the servo position to the given angle (in degrees) or pulse
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width (in seconds). Use `WIDTH=0` to disable the servo output.
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## Manual stepper Commands
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@ -23,8 +23,6 @@ class PrinterServo:
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self.angle_to_width = (self.max_width - self.min_width) / self.max_angle
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self.width_to_value = 1. / SERVO_SIGNAL_PERIOD
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self.last_value = self.last_value_time = 0.
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self.enable = config.getboolean('enable', True)
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self.last_enable = not self.enable
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servo_name = config.get_name().split()[1]
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gcode = self.printer.lookup_object('gcode')
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gcode.register_mux_command("SET_SERVO", "SERVO", servo_name,
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@ -53,37 +51,29 @@ class PrinterServo:
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def get_status(self, eventtime):
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return {'value': self.last_value}
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def _set_pwm(self, print_time, value):
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if value == self.last_value and self.enable == self.last_enable:
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if value == self.last_value:
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return
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print_time = max(print_time, self.last_value_time + PIN_MIN_TIME)
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if self.enable:
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self.mcu_servo.set_pwm(print_time, value)
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else:
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self.mcu_servo.set_pwm(print_time, 0)
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self.last_value = value
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self.last_enable = self.enable
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self.last_value_time = print_time
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def _get_pwm_from_angle(self, angle):
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angle = max(0., min(self.max_angle, angle))
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width = self.min_width + angle * self.angle_to_width
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return width * self.width_to_value
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def _get_pwm_from_pulse_width(self, width):
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if width:
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width = max(self.min_width, min(self.max_width, width))
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return width * self.width_to_value
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cmd_SET_SERVO_help = "Set servo angle"
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def cmd_SET_SERVO(self, gcmd):
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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enable = gcmd.get_int('ENABLE', None)
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width = gcmd.get_float('WIDTH', None)
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angle = gcmd.get_float('ANGLE', None)
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if enable is not None:
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self.enable = enable != 0
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if width is not None:
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self._set_pwm(print_time, self._get_pwm_from_pulse_width(width))
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elif angle is not None:
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self._set_pwm(print_time, self._get_pwm_from_angle(angle))
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else:
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self._set_pwm(print_time, self.last_value)
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angle = gcmd.get_float('ANGLE')
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self._set_pwm(print_time, self._get_pwm_from_angle(angle))
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def load_config_prefix(config):
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return PrinterServo(config)
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