diff options
Diffstat (limited to 'klippy/extras/servo.py')
| -rw-r--r-- | klippy/extras/servo.py | 70 |
1 files changed, 44 insertions, 26 deletions
diff --git a/klippy/extras/servo.py b/klippy/extras/servo.py index f1ce9976..cbe98755 100644 --- a/klippy/extras/servo.py +++ b/klippy/extras/servo.py @@ -7,65 +7,83 @@ from . import output_pin SERVO_SIGNAL_PERIOD = 0.020 + class PrinterServo: def __init__(self, config): self.printer = config.get_printer() - self.min_width = config.getfloat('minimum_pulse_width', .001, - above=0., below=SERVO_SIGNAL_PERIOD) - self.max_width = config.getfloat('maximum_pulse_width', .002, - above=self.min_width, - below=SERVO_SIGNAL_PERIOD) - self.max_angle = config.getfloat('maximum_servo_angle', 180.) + self.min_width = config.getfloat( + "minimum_pulse_width", 0.001, above=0.0, below=SERVO_SIGNAL_PERIOD + ) + self.max_width = config.getfloat( + "maximum_pulse_width", + 0.002, + above=self.min_width, + below=SERVO_SIGNAL_PERIOD, + ) + self.max_angle = config.getfloat("maximum_servo_angle", 180.0) self.angle_to_width = (self.max_width - self.min_width) / self.max_angle - self.width_to_value = 1. / SERVO_SIGNAL_PERIOD - self.last_value = 0. - initial_pwm = 0. - iangle = config.getfloat('initial_angle', None, minval=0., maxval=360.) + self.width_to_value = 1.0 / SERVO_SIGNAL_PERIOD + self.last_value = 0.0 + initial_pwm = 0.0 + iangle = config.getfloat("initial_angle", None, minval=0.0, maxval=360.0) if iangle is not None: initial_pwm = self._get_pwm_from_angle(iangle) else: - iwidth = config.getfloat('initial_pulse_width', 0., - minval=0., maxval=self.max_width) + iwidth = config.getfloat( + "initial_pulse_width", 0.0, minval=0.0, maxval=self.max_width + ) initial_pwm = self._get_pwm_from_pulse_width(iwidth) # Setup mcu_servo pin - ppins = self.printer.lookup_object('pins') - self.mcu_servo = ppins.setup_pin('pwm', config.get('pin')) - self.mcu_servo.setup_max_duration(0.) + ppins = self.printer.lookup_object("pins") + self.mcu_servo = ppins.setup_pin("pwm", config.get("pin")) + self.mcu_servo.setup_max_duration(0.0) self.mcu_servo.setup_cycle_time(SERVO_SIGNAL_PERIOD) - self.mcu_servo.setup_start_value(initial_pwm, 0.) + self.mcu_servo.setup_start_value(initial_pwm, 0.0) # Create gcode request queue self.gcrq = output_pin.GCodeRequestQueue( - config, self.mcu_servo.get_mcu(), self._set_pwm) + config, self.mcu_servo.get_mcu(), self._set_pwm + ) # Register commands servo_name = config.get_name().split()[1] - gcode = self.printer.lookup_object('gcode') - gcode.register_mux_command("SET_SERVO", "SERVO", servo_name, - self.cmd_SET_SERVO, - desc=self.cmd_SET_SERVO_help) + gcode = self.printer.lookup_object("gcode") + gcode.register_mux_command( + "SET_SERVO", + "SERVO", + servo_name, + self.cmd_SET_SERVO, + desc=self.cmd_SET_SERVO_help, + ) + def get_status(self, eventtime): - return {'value': self.last_value} + return {"value": self.last_value} + def _set_pwm(self, print_time, value): if value == self.last_value: - return "discard", 0. + return "discard", 0.0 self.last_value = value self.mcu_servo.set_pwm(print_time, value) + def _get_pwm_from_angle(self, angle): - angle = max(0., min(self.max_angle, angle)) + angle = max(0.0, 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): 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): - width = gcmd.get_float('WIDTH', None) + width = gcmd.get_float("WIDTH", None) if width is not None: value = self._get_pwm_from_pulse_width(width) else: - angle = gcmd.get_float('ANGLE') + angle = gcmd.get_float("ANGLE") value = self._get_pwm_from_angle(angle) self.gcrq.queue_gcode_request(value) + def load_config_prefix(config): return PrinterServo(config) |