diff options
Diffstat (limited to 'klippy/extras/servo.py')
| -rw-r--r-- | klippy/extras/servo.py | 23 |
1 files changed, 11 insertions, 12 deletions
diff --git a/klippy/extras/servo.py b/klippy/extras/servo.py index 344d6a31..10537e67 100644 --- a/klippy/extras/servo.py +++ b/klippy/extras/servo.py @@ -1,11 +1,11 @@ # Support for servos # -# Copyright (C) 2017-2020 Kevin O'Connor <kevin@koconnor.net> +# Copyright (C) 2017-2024 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. +from . import output_pin SERVO_SIGNAL_PERIOD = 0.020 -PIN_MIN_TIME = 0.100 class PrinterServo: def __init__(self, config): @@ -18,7 +18,7 @@ class PrinterServo: self.max_angle = config.getfloat('maximum_servo_angle', 180.) 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.last_value = 0. initial_pwm = 0. iangle = config.getfloat('initial_angle', None, minval=0., maxval=360.) if iangle is not None: @@ -33,6 +33,9 @@ class PrinterServo: self.mcu_servo.setup_max_duration(0.) self.mcu_servo.setup_cycle_time(SERVO_SIGNAL_PERIOD) self.mcu_servo.setup_start_value(initial_pwm, 0.) + # Create gcode request queue + self.gcrq = output_pin.GCodeRequestQueue( + config, self.mcu_servo.get_mcu(), self._set_pwm) # Register commands servo_name = config.get_name().split()[1] gcode = self.printer.lookup_object('gcode') @@ -42,12 +45,10 @@ class PrinterServo: def get_status(self, eventtime): return {'value': self.last_value} def _set_pwm(self, print_time, value): - if value == self.last_value: - return - print_time = max(print_time, self.last_value_time + PIN_MIN_TIME) - self.mcu_servo.set_pwm(print_time, value) - self.last_value = value - self.last_value_time = print_time + if value != self.last_value: + self.last_value = value + self.mcu_servo.set_pwm(print_time, value) + return (True, 0.) def _get_pwm_from_angle(self, angle): angle = max(0., min(self.max_angle, angle)) width = self.min_width + angle * self.angle_to_width @@ -64,9 +65,7 @@ class PrinterServo: else: angle = gcmd.get_float('ANGLE') value = self._get_pwm_from_angle(angle) - toolhead = self.printer.lookup_object('toolhead') - toolhead.register_lookahead_callback((lambda pt: - self._set_pwm(pt, value))) + self.gcrq.queue_gcode_request(value) def load_config_prefix(config): return PrinterServo(config) |