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# Support for servos
#
# 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
class PrinterServo:
def __init__(self, config):
self.printer = config.get_printer()
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 = 1.0 / 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", 0.0, 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(0.0)
self.mcu_servo.setup_cycle_time(SERVO_SIGNAL_PERIOD)
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
)
# 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,
)
def get_status(self, eventtime):
return {"value": self.last_value}
def _set_pwm(self, print_time, value):
if value == self.last_value:
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(0.0, 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)
if width is not None:
value = self._get_pwm_from_pulse_width(width)
else:
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)
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