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Add macros to move servos

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This commit is contained in:
Scott Lahteine 2016-06-12 15:35:01 -07:00
parent c7eeb09e8f
commit 4fbe818163
1 changed files with 17 additions and 10 deletions
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27
Marlin/Marlin_main.cpp
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@ -487,6 +487,11 @@ static bool send_ok[BUFSIZE];
#if HAS_SERVOS #if HAS_SERVOS
Servo servo[NUM_SERVOS]; Servo servo[NUM_SERVOS];
#define MOVE_SERVO(I, P) servo[I].move(P)
#define SERVO_ENDSTOP_EXISTS(I) (servo_endstop_id[I] >= 0)
#define MOVE_SERVO_ENDSTOP(I, J) MOVE_SERVO(servo_endstop_id[I], servo_endstop_angle[I][J])
#define DEPLOY_SERVO_ENDSTOP(I) MOVE_SERVO_ENDSTOP(I, 0)
#define STOW_SERVO_ENDSTOP(I) MOVE_SERVO_ENDSTOP(I, 1)
#endif #endif
#ifdef CHDK #ifdef CHDK
@ -760,8 +765,8 @@ void servo_init() {
* *
*/ */
for (int i = 0; i < 3; i++) for (int i = 0; i < 3; i++)
if (servo_endstop_id[i] >= 0) if (SERVO_ENDSTOP_EXISTS(i))
servo[servo_endstop_id[i]].move(servo_endstop_angle[i][1]); STOW_SERVO_ENDSTOP(i);
#endif // HAS_SERVO_ENDSTOPS #endif // HAS_SERVO_ENDSTOPS
@ -1825,7 +1830,8 @@ static void setup_for_endstop_move() {
#if ENABLED(HAS_SERVO_ENDSTOPS) #if ENABLED(HAS_SERVO_ENDSTOPS)
// Engage Z Servo endstop if enabled // Engage Z Servo endstop if enabled
if (servo_endstop_id[Z_AXIS] >= 0) servo[servo_endstop_id[Z_AXIS]].move(servo_endstop_angle[Z_AXIS][0]); if (SERVO_ENDSTOP_EXISTS(Z_AXIS)
DEPLOY_SERVO_ENDSTOP(Z_AXIS);
#elif ENABLED(Z_PROBE_ALLEN_KEY) #elif ENABLED(Z_PROBE_ALLEN_KEY)
feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE; feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE;
@ -1921,7 +1927,7 @@ static void setup_for_endstop_move() {
#if ENABLED(HAS_SERVO_ENDSTOPS) #if ENABLED(HAS_SERVO_ENDSTOPS)
// Retract Z Servo endstop if enabled // Retract Z Servo endstop if enabled
if (servo_endstop_id[Z_AXIS] >= 0) { if (SERVO_ENDSTOP_EXISTS(Z_AXIS)) {
#if Z_RAISE_AFTER_PROBING > 0 #if Z_RAISE_AFTER_PROBING > 0
if (doRaise) { if (doRaise) {
@ -1931,7 +1937,7 @@ static void setup_for_endstop_move() {
#endif #endif
// Change the Z servo angle // Change the Z servo angle
servo[servo_endstop_id[Z_AXIS]].move(servo_endstop_angle[Z_AXIS][1]); STOW_SERVO_ENDSTOP(Z_AXIS);
} }
#elif ENABLED(Z_PROBE_ALLEN_KEY) #elif ENABLED(Z_PROBE_ALLEN_KEY)
@ -2288,8 +2294,8 @@ static void homeaxis(AxisEnum axis) {
#if ENABLED(HAS_SERVO_ENDSTOPS) #if ENABLED(HAS_SERVO_ENDSTOPS)
// Engage an X, Y (or Z) Servo endstop if enabled // Engage an X, Y (or Z) Servo endstop if enabled
if (_Z_SERVO_TEST && servo_endstop_id[axis] >= 0) { if (_Z_SERVO_TEST && SERVO_ENDSTOP_EXISTS(axis)) {
servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][0]); DEPLOY_SERVO_ENDSTOP(axis);
if (_Z_SERVO_SUBTEST) endstops.z_probe_enabled = true; if (_Z_SERVO_SUBTEST) endstops.z_probe_enabled = true;
} }
#endif #endif
@ -2419,7 +2425,7 @@ static void homeaxis(AxisEnum axis) {
// Retract X, Y (or Z) Servo endstop if enabled // Retract X, Y (or Z) Servo endstop if enabled
#if ENABLED(HAS_SERVO_ENDSTOPS) #if ENABLED(HAS_SERVO_ENDSTOPS)
if (_Z_SERVO_TEST && servo_endstop_id[axis] >= 0) { if (_Z_SERVO_TEST && SERVO_ENDSTOP_EXISTS(axis)) {
// Raise the servo probe before stow outside ABL context. // Raise the servo probe before stow outside ABL context.
// This is a workaround to allow use of a Servo Probe without // This is a workaround to allow use of a Servo Probe without
// ABL until more global probe handling is implemented. // ABL until more global probe handling is implemented.
@ -2438,7 +2444,7 @@ static void homeaxis(AxisEnum axis) {
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_ENDSTOPS > Stow with servo.move()"); if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_ENDSTOPS > Stow with servo.move()");
#endif #endif
servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][1]); STOW_SERVO_ENDSTOP(axis);
if (_Z_SERVO_SUBTEST) endstops.enable_z_probe(false); if (_Z_SERVO_SUBTEST) endstops.enable_z_probe(false);
} }
@ -5673,7 +5679,7 @@ inline void gcode_M226() {
if (code_seen('S')) { if (code_seen('S')) {
servo_position = code_value_int(); servo_position = code_value_int();
if (servo_index >= 0 && servo_index < NUM_SERVOS) if (servo_index >= 0 && servo_index < NUM_SERVOS)
servo[servo_index].move(servo_position); MOVE_SERVO(servo_index, servo_position);
else { else {
SERIAL_ERROR_START; SERIAL_ERROR_START;
SERIAL_ERROR("Servo "); SERIAL_ERROR("Servo ");
@ -6680,6 +6686,7 @@ inline void gcode_T(uint8_t tmp_extruder) {
offset_vec.apply_rotation(planner.bed_level_matrix.transpose(planner.bed_level_matrix)); offset_vec.apply_rotation(planner.bed_level_matrix.transpose(planner.bed_level_matrix));
// Adjust the current position
current_position[X_AXIS] += offset_vec.x; current_position[X_AXIS] += offset_vec.x;
current_position[Y_AXIS] += offset_vec.y; current_position[Y_AXIS] += offset_vec.y;
current_position[Z_AXIS] += offset_vec.z; current_position[Z_AXIS] += offset_vec.z;