diff options
Diffstat (limited to 'klippy/chipmisc.py')
| -rw-r--r-- | klippy/chipmisc.py | 22 |
1 files changed, 18 insertions, 4 deletions
diff --git a/klippy/chipmisc.py b/klippy/chipmisc.py index 8ca90eca..26931076 100644 --- a/klippy/chipmisc.py +++ b/klippy/chipmisc.py @@ -41,6 +41,7 @@ SERVO_SIGNAL_PERIOD = 0.020 class PrinterServo: def __init__(self, printer, config): + self.printer = printer self.mcu_servo = pins.setup_pin(printer, 'pwm', config.get('pin')) self.mcu_servo.setup_max_duration(0.) self.mcu_servo.setup_cycle_time(SERVO_SIGNAL_PERIOD) @@ -53,6 +54,9 @@ 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.gcode = printer.objects['gcode'] + self.gcode.register_command("SET_SERVO", self.cmd_SET_SERVO, + desc=self.cmd_SET_SERVO_help) def set_pwm(self, print_time, value): if value == self.last_value: return @@ -60,7 +64,6 @@ class PrinterServo: self.mcu_servo.set_pwm(print_time, value) self.last_value = value self.last_value_time = print_time - # External commands def set_angle(self, print_time, angle): angle = max(0., min(self.max_angle, angle)) width = self.min_width + angle * self.angle_to_width @@ -68,9 +71,20 @@ class PrinterServo: def set_pulse_width(self, print_time, width): width = max(self.min_width, min(self.max_width, width)) self.set_pwm(print_time, width * self.width_to_value) - -def get_printer_servo(printer, name): - return printer.objects.get('servo ' + name) + cmd_SET_SERVO_help = "Set servo angle" + def cmd_SET_SERVO(self, params): + servo_name = self.gcode.get_str('SERVO', params) + servo = self.printer.objects.get('servo ' + servo_name) + if servo is not self: + if servo is None: + raise self.gcode.error("Servo not configured") + return servo.cmd_SET_SERVO(params) + print_time = self.printer.objects['toolhead'].get_last_move_time() + if 'WIDTH' in params: + self.set_pulse_width(print_time, + self.gcode.get_float('WIDTH', params)) + else: + self.set_angle(print_time, self.gcode.get_float('ANGLE', params)) ###################################################################### |