diff options
| -rw-r--r-- | config/example-extras.cfg | 3 | ||||
| -rw-r--r-- | docs/Config_Changes.md | 4 | ||||
| -rw-r--r-- | docs/G-Codes.md | 5 | ||||
| -rw-r--r-- | klippy/extras/servo.py | 22 |
4 files changed, 13 insertions, 21 deletions
diff --git a/config/example-extras.cfg b/config/example-extras.cfg index 89279da9..6082992b 100644 --- a/config/example-extras.cfg +++ b/config/example-extras.cfg @@ -1254,9 +1254,6 @@ # 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) # Neopixel (aka WS2812) LED support (one may define any number of # sections with a "neopixel" prefix). One may set the LED color via diff --git a/docs/Config_Changes.md b/docs/Config_Changes.md index 70496ece..6f7e5217 100644 --- a/docs/Config_Changes.md +++ b/docs/Config_Changes.md @@ -6,6 +6,10 @@ All dates in this document are approximate. # Changes +20200725: The servo `enable` config parameter and the SET_SERVO +`ENABLE` parameter have been removed. Update any macros to use +`SET_SERVO SERVO=my_servo WIDTH=0` to disable a servo. + 20200608: The LCD display support has changed the name of some internal "glyphs". If a custom display layout was implemented it may be necessary to update to the latest glyph names (see diff --git a/docs/G-Codes.md b/docs/G-Codes.md index 3c91ee63..0ec0460e 100644 --- a/docs/G-Codes.md +++ b/docs/G-Codes.md @@ -258,8 +258,9 @@ sections are enabled: The following commands are available when a "servo" config section is enabled: -- `SET_SERVO SERVO=config_name [WIDTH=<seconds>] [ENABLE=<0|1>]` -- `SET_SERVO SERVO=config_name [ANGLE=<degrees>] [ENABLE=<0|1>]` +- `SET_SERVO SERVO=config_name [ANGLE=<degrees> | WIDTH=<seconds>]`: + Set the servo position to the given angle (in degrees) or pulse + width (in seconds). Use `WIDTH=0` to disable the servo output. ## Manual stepper Commands diff --git a/klippy/extras/servo.py b/klippy/extras/servo.py index c579b143..8225a0f9 100644 --- a/klippy/extras/servo.py +++ b/klippy/extras/servo.py @@ -23,8 +23,6 @@ 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] gcode = self.printer.lookup_object('gcode') gcode.register_mux_command("SET_SERVO", "SERVO", servo_name, @@ -53,37 +51,29 @@ class PrinterServo: def get_status(self, eventtime): return {'value': self.last_value} def _set_pwm(self, print_time, value): - if value == self.last_value and self.enable == self.last_enable: + if value == self.last_value: return print_time = max(print_time, self.last_value_time + PIN_MIN_TIME) - if self.enable: - self.mcu_servo.set_pwm(print_time, value) - else: - self.mcu_servo.set_pwm(print_time, 0) + self.mcu_servo.set_pwm(print_time, value) 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)) width = self.min_width + angle * self.angle_to_width return width * self.width_to_value def _get_pwm_from_pulse_width(self, width): - width = max(self.min_width, min(self.max_width, width)) + if width: + 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, gcmd): print_time = self.printer.lookup_object('toolhead').get_last_move_time() - 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: - self._set_pwm(print_time, self.last_value) + angle = gcmd.get_float('ANGLE') + self._set_pwm(print_time, self._get_pwm_from_angle(angle)) def load_config_prefix(config): return PrinterServo(config) |