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🧑‍💻 Remove servo macros

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This commit is contained in:
Scott Lahteine 2022-06-09 00:51:08 -05:00
parent 76a0cab782
commit e4e6abe5af
10 changed files with 25 additions and 28 deletions
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2
Marlin/src/feature/bltouch.cpp
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@ -45,7 +45,7 @@ void stop();
bool BLTouch::command(const BLTCommand cmd, const millis_t &ms) { bool BLTouch::command(const BLTCommand cmd, const millis_t &ms) {
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("BLTouch Command :", cmd); if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("BLTouch Command :", cmd);
MOVE_SERVO(Z_PROBE_SERVO_NR, cmd); servo[Z_PROBE_SERVO_NR].move(cmd);
safe_delay(_MAX(ms, (uint32_t)BLTOUCH_DELAY)); // BLTOUCH_DELAY is also the *minimum* delay safe_delay(_MAX(ms, (uint32_t)BLTOUCH_DELAY)); // BLTOUCH_DELAY is also the *minimum* delay
return triggered(); return triggered();
} }

4
Marlin/src/feature/spindle_laser.cpp
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@ -58,7 +58,7 @@ cutter_power_t SpindleLaser::menuPower, // Power s
*/ */
void SpindleLaser::init() { void SpindleLaser::init() {
#if ENABLED(SPINDLE_SERVO) #if ENABLED(SPINDLE_SERVO)
MOVE_SERVO(SPINDLE_SERVO_NR, SPINDLE_SERVO_MIN); servo[SPINDLE_SERVO_NR].move(SPINDLE_SERVO_MIN);
#else #else
OUT_WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE); // Init spindle to off OUT_WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE); // Init spindle to off
#endif #endif
@ -131,7 +131,7 @@ void SpindleLaser::apply_power(const uint8_t opwr) {
isReady = false; isReady = false;
} }
#elif ENABLED(SPINDLE_SERVO) #elif ENABLED(SPINDLE_SERVO)
MOVE_SERVO(SPINDLE_SERVO_NR, power); servo[SPINDLE_SERVO_NR].move(power);
#else #else
WRITE(SPINDLE_LASER_ENA_PIN, enabled() ? SPINDLE_LASER_ACTIVE_STATE : !SPINDLE_LASER_ACTIVE_STATE); WRITE(SPINDLE_LASER_ENA_PIN, enabled() ? SPINDLE_LASER_ACTIVE_STATE : !SPINDLE_LASER_ACTIVE_STATE);
isReady = true; isReady = true;

8
Marlin/src/gcode/config/M43.cpp
View file

@ -198,10 +198,10 @@ inline void servo_probe_test() {
uint8_t i = 0; uint8_t i = 0;
SERIAL_ECHOLNPGM(". Deploy & stow 4 times"); SERIAL_ECHOLNPGM(". Deploy & stow 4 times");
do { do {
MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][0]); // Deploy servo[probe_index].move(servo_angles[Z_PROBE_SERVO_NR][0]); // Deploy
safe_delay(500); safe_delay(500);
deploy_state = READ(PROBE_TEST_PIN); deploy_state = READ(PROBE_TEST_PIN);
MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][1]); // Stow servo[probe_index].move(servo_angles[Z_PROBE_SERVO_NR][1]); // Stow
safe_delay(500); safe_delay(500);
stow_state = READ(PROBE_TEST_PIN); stow_state = READ(PROBE_TEST_PIN);
} while (++i < 4); } while (++i < 4);
@ -226,7 +226,7 @@ inline void servo_probe_test() {
} }
// Ask the user for a trigger event and measure the pulse width. // Ask the user for a trigger event and measure the pulse width.
MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][0]); // Deploy servo[probe_index].move(servo_angles[Z_PROBE_SERVO_NR][0]); // Deploy
safe_delay(500); safe_delay(500);
SERIAL_ECHOLNPGM("** Please trigger probe within 30 sec **"); SERIAL_ECHOLNPGM("** Please trigger probe within 30 sec **");
uint16_t probe_counter = 0; uint16_t probe_counter = 0;
@ -256,7 +256,7 @@ inline void servo_probe_test() {
} }
else SERIAL_ECHOLNPGM("FAIL: Noise detected - please re-run test"); else SERIAL_ECHOLNPGM("FAIL: Noise detected - please re-run test");
MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][1]); // Stow servo[probe_index].move(servo_angles[Z_PROBE_SERVO_NR][1]); // Stow
return; return;
} }
} }

6
Marlin/src/gcode/control/M280.cpp
View file

@ -56,14 +56,14 @@ void GcodeSuite::M280() {
while (PENDING(now, end)) { while (PENDING(now, end)) {
safe_delay(50); safe_delay(50);
now = _MIN(millis(), end); now = _MIN(millis(), end);
MOVE_SERVO(servo_index, LROUND(aold + (anew - aold) * (float(now - start) / t))); servo[servo_index].move(LROUND(aold + (anew - aold) * (float(now - start) / t)));
} }
} }
#endif // POLARGRAPH #endif // POLARGRAPH
MOVE_SERVO(servo_index, anew); servo[servo_index].move(anew);
} }
else else
DETACH_SERVO(servo_index); servo[servo_index].detach();
} }
else else
SERIAL_ECHO_MSG(" Servo ", servo_index, ": ", servo[servo_index].read()); SERIAL_ECHO_MSG(" Servo ", servo_index, ": ", servo[servo_index].read());

2
Marlin/src/gcode/control/M282.cpp
View file

@ -36,7 +36,7 @@ void GcodeSuite::M282() {
const int servo_index = parser.value_int(); const int servo_index = parser.value_int();
if (WITHIN(servo_index, 0, NUM_SERVOS - 1)) if (WITHIN(servo_index, 0, NUM_SERVOS - 1))
DETACH_SERVO(servo_index); servo[servo_index].detach();
else else
SERIAL_ECHO_MSG("Servo ", servo_index, " out of range"); SERIAL_ECHO_MSG("Servo ", servo_index, " out of range");

2
Marlin/src/module/probe.cpp
View file

@ -343,7 +343,7 @@ FORCE_INLINE void probe_specific_action(const bool deploy) {
#elif HAS_Z_SERVO_PROBE #elif HAS_Z_SERVO_PROBE
MOVE_SERVO(Z_PROBE_SERVO_NR, servo_angles[Z_PROBE_SERVO_NR][deploy ? 0 : 1]); servo[Z_PROBE_SERVO_NR].move(servo_angles[Z_PROBE_SERVO_NR][deploy ? 0 : 1]);
#elif EITHER(TOUCH_MI_PROBE, Z_PROBE_ALLEN_KEY) #elif EITHER(TOUCH_MI_PROBE, Z_PROBE_ALLEN_KEY)

8
Marlin/src/module/servo.cpp
View file

@ -39,19 +39,19 @@ hal_servo_t servo[NUM_SERVOS];
void servo_init() { void servo_init() {
#if NUM_SERVOS >= 1 && HAS_SERVO_0 #if NUM_SERVOS >= 1 && HAS_SERVO_0
servo[0].attach(SERVO0_PIN); servo[0].attach(SERVO0_PIN);
DETACH_SERVO(0); // Just set up the pin. We don't have a position yet. Don't move to a random position. servo[0].detach(); // Just set up the pin. We don't have a position yet. Don't move to a random position.
#endif #endif
#if NUM_SERVOS >= 2 && HAS_SERVO_1 #if NUM_SERVOS >= 2 && HAS_SERVO_1
servo[1].attach(SERVO1_PIN); servo[1].attach(SERVO1_PIN);
DETACH_SERVO(1); servo[1].detach();
#endif #endif
#if NUM_SERVOS >= 3 && HAS_SERVO_2 #if NUM_SERVOS >= 3 && HAS_SERVO_2
servo[2].attach(SERVO2_PIN); servo[2].attach(SERVO2_PIN);
DETACH_SERVO(2); servo[2].detach();
#endif #endif
#if NUM_SERVOS >= 4 && HAS_SERVO_3 #if NUM_SERVOS >= 4 && HAS_SERVO_3
servo[3].attach(SERVO3_PIN); servo[3].attach(SERVO3_PIN);
DETACH_SERVO(3); servo[3].detach();
#endif #endif
} }

7
Marlin/src/module/servo.h
View file

@ -103,14 +103,11 @@
}; };
#if HAS_Z_SERVO_PROBE #if HAS_Z_SERVO_PROBE
#define DEPLOY_Z_SERVO() MOVE_SERVO(Z_PROBE_SERVO_NR, servo_angles[Z_PROBE_SERVO_NR][0]) #define DEPLOY_Z_SERVO() servo[Z_PROBE_SERVO_NR].move(servo_angles[Z_PROBE_SERVO_NR][0])
#define STOW_Z_SERVO() MOVE_SERVO(Z_PROBE_SERVO_NR, servo_angles[Z_PROBE_SERVO_NR][1]) #define STOW_Z_SERVO() servo[Z_PROBE_SERVO_NR].move(servo_angles[Z_PROBE_SERVO_NR][1])
#endif #endif
#endif // HAS_SERVO_ANGLES #endif // HAS_SERVO_ANGLES
#define MOVE_SERVO(I, P) servo[I].move(P)
#define DETACH_SERVO(I) servo[I].detach()
extern hal_servo_t servo[NUM_SERVOS]; extern hal_servo_t servo[NUM_SERVOS];
void servo_init(); void servo_init();

6
Marlin/src/module/temperature.cpp
View file

@ -1881,7 +1881,7 @@ void Temperature::manage_heater() {
#endif #endif
#if ENABLED(CHAMBER_VENT) #if ENABLED(CHAMBER_VENT)
flag_chamber_excess_heat = false; flag_chamber_excess_heat = false;
MOVE_SERVO(CHAMBER_VENT_SERVO_NR, 90); servo[CHAMBER_VENT_SERVO_NR].move(90);
#endif #endif
} }
#endif #endif
@ -1897,7 +1897,7 @@ void Temperature::manage_heater() {
if (flag_chamber_excess_heat) { if (flag_chamber_excess_heat) {
temp_chamber.soft_pwm_amount = 0; temp_chamber.soft_pwm_amount = 0;
#if ENABLED(CHAMBER_VENT) #if ENABLED(CHAMBER_VENT)
if (!flag_chamber_off) MOVE_SERVO(CHAMBER_VENT_SERVO_NR, temp_chamber.celsius <= temp_chamber.target ? 0 : 90); if (!flag_chamber_off) servo[CHAMBER_VENT_SERVO_NR].move(temp_chamber.celsius <= temp_chamber.target ? 0 : 90);
#endif #endif
} }
else { else {
@ -1910,7 +1910,7 @@ void Temperature::manage_heater() {
temp_chamber.soft_pwm_amount = temp_chamber.celsius < temp_chamber.target ? (MAX_CHAMBER_POWER) >> 1 : 0; temp_chamber.soft_pwm_amount = temp_chamber.celsius < temp_chamber.target ? (MAX_CHAMBER_POWER) >> 1 : 0;
#endif #endif
#if ENABLED(CHAMBER_VENT) #if ENABLED(CHAMBER_VENT)
if (!flag_chamber_off) MOVE_SERVO(CHAMBER_VENT_SERVO_NR, 0); if (!flag_chamber_off) servo[CHAMBER_VENT_SERVO_NR].move(0);
#endif #endif
} }
} }

8
Marlin/src/module/tool_change.cpp
View file

@ -116,7 +116,7 @@
void move_extruder_servo(const uint8_t e) { void move_extruder_servo(const uint8_t e) {
planner.synchronize(); planner.synchronize();
if ((EXTRUDERS & 1) && e < EXTRUDERS - 1) { if ((EXTRUDERS & 1) && e < EXTRUDERS - 1) {
MOVE_SERVO(_SERVO_NR(e), servo_angles[_SERVO_NR(e)][e & 1]); servo[_SERVO_NR(e)].move(servo_angles[_SERVO_NR(e)][e & 1]);
safe_delay(500); safe_delay(500);
} }
} }
@ -131,7 +131,7 @@
constexpr int8_t sns_index[2] = { SWITCHING_NOZZLE_SERVO_NR, SWITCHING_NOZZLE_E1_SERVO_NR }; constexpr int8_t sns_index[2] = { SWITCHING_NOZZLE_SERVO_NR, SWITCHING_NOZZLE_E1_SERVO_NR };
constexpr int16_t sns_angles[2] = SWITCHING_NOZZLE_SERVO_ANGLES; constexpr int16_t sns_angles[2] = SWITCHING_NOZZLE_SERVO_ANGLES;
planner.synchronize(); planner.synchronize();
MOVE_SERVO(sns_index[e], sns_angles[angle_index]); servo[sns_index[e]].move(sns_angles[angle_index]);
safe_delay(500); safe_delay(500);
} }
@ -142,7 +142,7 @@
void move_nozzle_servo(const uint8_t angle_index) { void move_nozzle_servo(const uint8_t angle_index) {
planner.synchronize(); planner.synchronize();
MOVE_SERVO(SWITCHING_NOZZLE_SERVO_NR, servo_angles[SWITCHING_NOZZLE_SERVO_NR][angle_index]); servo[SWITCHING_NOZZLE_SERVO_NR].move(servo_angles[SWITCHING_NOZZLE_SERVO_NR][angle_index]);
safe_delay(500); safe_delay(500);
} }
@ -443,7 +443,7 @@ void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_axis, 0.
inline void switching_toolhead_lock(const bool locked) { inline void switching_toolhead_lock(const bool locked) {
#ifdef SWITCHING_TOOLHEAD_SERVO_ANGLES #ifdef SWITCHING_TOOLHEAD_SERVO_ANGLES
const uint16_t swt_angles[2] = SWITCHING_TOOLHEAD_SERVO_ANGLES; const uint16_t swt_angles[2] = SWITCHING_TOOLHEAD_SERVO_ANGLES;
MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, swt_angles[locked ? 0 : 1]); servo[SWITCHING_TOOLHEAD_SERVO_NR].move(swt_angles[locked ? 0 : 1]);
#elif PIN_EXISTS(SWT_SOLENOID) #elif PIN_EXISTS(SWT_SOLENOID)
OUT_WRITE(SWT_SOLENOID_PIN, locked); OUT_WRITE(SWT_SOLENOID_PIN, locked);
gcode.dwell(10); gcode.dwell(10);