From e541466591a507b50d5b3c48fc0e17660acda4dc Mon Sep 17 00:00:00 2001 From: Jiri Dobry Date: Wed, 14 Nov 2018 15:38:09 +0100 Subject: [PATCH] servo: This patch create ability to enable/disable attached servo. (#880) 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: # 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 --- config/example-extras.cfg | 4 +++- docs/G-Codes.md | 4 ++-- klippy/extras/servo.py | 20 ++++++++++++++++---- 3 files changed, 21 insertions(+), 7 deletions(-) diff --git a/config/example-extras.cfg b/config/example-extras.cfg index 29255c48..a493c951 100644 --- a/config/example-extras.cfg +++ b/config/example-extras.cfg @@ -478,7 +478,9 @@ # the mcu resets. Must be between minimum_pulse_width and maximum_pulse_width. # This parameter is optional. If both initial_angle and initial_pulse_width # are set initial_angle will be used - +#enable: True +# Enable or disable servo. It can be enabled or disabled later using +# SET_SERVO SERVO=my_servo ENABLE=<0|1> g-command. The default is True (=enabled) # Statically configured digital output pins (one may define any number # of sections with a "static_digital_output" prefix). Pins configured diff --git a/docs/G-Codes.md b/docs/G-Codes.md index 38ae2ca3..fd5291b4 100644 --- a/docs/G-Codes.md +++ b/docs/G-Codes.md @@ -142,8 +142,8 @@ is enabled: The following commands are available when a "servo" config section is enabled: -- `SET_SERVO SERVO=config_name WIDTH=` -- `SET_SERVO SERVO=config_name ANGLE=` +- `SET_SERVO SERVO=config_name [WIDTH=] [ENABLE=<0|1>]` +- `SET_SERVO SERVO=config_name [ANGLE=] [ENABLE=<0|1>]` ## Probe diff --git a/klippy/extras/servo.py b/klippy/extras/servo.py index 7669d44b..0a33c4d1 100644 --- a/klippy/extras/servo.py +++ b/klippy/extras/servo.py @@ -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)