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servo: Use new GCodeCommand wrappers 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2020-04-25 00:15:47 -04:00
parent 53093a7a15
commit a11535fc86
1 changed files with 15 additions and 16 deletions
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31
klippy/extras/servo.py
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@ -26,10 +26,10 @@ class PrinterServo:
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,
self.cmd_SET_SERVO,
desc=self.cmd_SET_SERVO_help)
gcode = self.printer.lookup_object('gcode')
gcode.register_mux_command("SET_SERVO", "SERVO", servo_name,
self.cmd_SET_SERVO,
desc=self.cmd_SET_SERVO_help)
# Check to see if an initial angle or pulse width is
# configured and set it as required
self.initial_pwm_value = None
@ -71,20 +71,19 @@ class PrinterServo:
width = max(self.min_width, min(self.max_width, width))
return width * self.width_to_value
cmd_SET_SERVO_help = "Set servo angle"
def cmd_SET_SERVO(self, params):
def cmd_SET_SERVO(self, gcmd):
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)))
enable = gcmd.get_int('ENABLE', None)
width = gcmd.get_float('WIDTH', None)
angle = gcmd.get_float('ANGLE', None)
if enable is not None:
self.enable = enable != 0
if width is not None:
self._set_pwm(print_time, self._get_pwm_from_pulse_width(width))
elif angle is not None:
self._set_pwm(print_time, self._get_pwm_from_angle(angle))
else:
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)
self._set_pwm(print_time, self.last_value)
def load_config_prefix(config):
return PrinterServo(config)