diff options
Diffstat (limited to 'klippy/extras/servo.py')
| -rw-r--r-- | klippy/extras/servo.py | 51 |
1 files changed, 21 insertions, 30 deletions
diff --git a/klippy/extras/servo.py b/klippy/extras/servo.py index 8225a0f9..c05c9f81 100644 --- a/klippy/extras/servo.py +++ b/klippy/extras/servo.py @@ -1,6 +1,6 @@ # Support for servos # -# Copyright (C) 2017,2018 Kevin O'Connor <kevin@koconnor.net> +# Copyright (C) 2017-2020 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. @@ -10,44 +10,35 @@ PIN_MIN_TIME = 0.100 class PrinterServo: def __init__(self, config): self.printer = config.get_printer() - ppins = self.printer.lookup_object('pins') - self.mcu_servo = ppins.setup_pin('pwm', config.get('pin')) - self.mcu_servo.setup_max_duration(0.) - self.mcu_servo.setup_cycle_time(SERVO_SIGNAL_PERIOD) - 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.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.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. + initial_pwm = 0. + iangle = config.getfloat('initial_angle', None, minval=0., maxval=360.) + 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) + 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.) + self.mcu_servo.setup_cycle_time(SERVO_SIGNAL_PERIOD) + self.mcu_servo.setup_start_value(initial_pwm, 0.) + # 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) - # Check to see if an initial angle or pulse width is - # configured and set it as required - self.initial_pwm_value = None - initial_angle = config.getfloat('initial_angle', None, - minval=0., maxval=360.) - if initial_angle is not None: - self.initial_pwm_value = self._get_pwm_from_angle(initial_angle) - else: - initial_pulse_width = config.getfloat('initial_pulse_width', None, - minval=self.min_width, - maxval=self.max_width) - if initial_pulse_width is not None: - self.initial_pwm_value = self._get_pwm_from_pulse_width( - initial_pulse_width) - self.printer.register_event_handler("klippy:ready", self.handle_ready) - def handle_ready(self): - if self.initial_pwm_value is not None: - toolhead = self.printer.lookup_object('toolhead') - print_time = toolhead.get_last_move_time() - self._set_pwm(print_time, self.initial_pwm_value) def get_status(self, eventtime): return {'value': self.last_value} def _set_pwm(self, print_time, value): |