diff options
| -rw-r--r-- | config/example-extras.cfg | 4 | ||||
| -rw-r--r-- | docs/G-Codes.md | 4 | ||||
| -rw-r--r-- | 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=<seconds>` -- `SET_SERVO SERVO=config_name ANGLE=<degrees>` +- `SET_SERVO SERVO=config_name [WIDTH=<seconds>] [ENABLE=<0|1>]` +- `SET_SERVO SERVO=config_name [ANGLE=<degrees>] [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) |