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# Support for servos
#
# Copyright (C) 2017,2018 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
SERVO_SIGNAL_PERIOD = 0.020
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.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.gcode = self.printer.lookup_object('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
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
def set_angle(self, print_time, angle):
angle = max(0., min(self.max_angle, angle))
width = self.min_width + angle * self.angle_to_width
self.set_pwm(print_time, width * self.width_to_value)
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)
cmd_SET_SERVO_help = "Set servo angle"
def cmd_SET_SERVO(self, params):
servo_name = self.gcode.get_str('SERVO', params)
servo = self.printer.lookup_object('servo ' + servo_name, None)
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.lookup_object('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))
def load_config_prefix(config):
return PrinterServo(config)
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