From 49609f6c14ef962b001d6e5952981383897108cb Mon Sep 17 00:00:00 2001
From: AnHardt <github@kitelab.de>
Date: Mon, 13 Jul 2015 00:16:06 +0200
Subject: [PATCH] Activate the new servo.move() function

by replacing the sequences (attach, write, delay, detach), and their conditions with the new function in Marlin.main.cpp
and removing the old configuration in the ABL part of Configuration.h
---
 Marlin/Configuration.h |  7 -------
 Marlin/Marlin_main.cpp | 39 +++++++--------------------------------
 2 files changed, 7 insertions(+), 39 deletions(-)

diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index b574c47996..c0f3ab877c 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -504,13 +504,6 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
   //#define Z_PROBE_SLED // turn on if you have a z-probe mounted on a sled like those designed by Charles Bell
   //#define SLED_DOCKING_OFFSET 5 // the extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like.
 
-  //If defined, the Probe servo will be turned on only during movement and then turned off to avoid jerk
-  //The value is the delay to turn the servo off after powered on - depends on the servo speed; 300ms is good value, but you can try lower it.
-  // You MUST HAVE the SERVO_ENDSTOPS defined to use here a value higher than zero otherwise your code will not compile.
-
-//  #define PROBE_SERVO_DEACTIVATION_DELAY 300
-
-
 //If you have enabled the Bed Auto Leveling and are using the same Z Probe for Z Homing,
 //it is highly recommended you let this Z_SAFE_HOMING enabled!!!
 
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 8fdefc4a35..b1b2b3483d 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -36,7 +36,7 @@
   #endif
 #endif // ENABLE_AUTO_BED_LEVELING
 
-#define SERVO_LEVELING (defined(ENABLE_AUTO_BED_LEVELING) && PROBE_SERVO_DEACTIVATION_DELAY > 0)
+#define SERVO_LEVELING (defined(ENABLE_AUTO_BED_LEVELING) && defined(DEACTIVATE_SERVOS_AFTER_MOVE))
 
 #ifdef MESH_BED_LEVELING
   #include "mesh_bed_leveling.h"
@@ -570,13 +570,9 @@ void servo_init() {
   #ifdef SERVO_ENDSTOPS
     for (int i = 0; i < 3; i++)
       if (servo_endstops[i] >= 0)
-        servo[servo_endstops[i]].write(servo_endstop_angles[i * 2 + 1]);
+        servo[servo_endstops[i]].move(0, servo_endstop_angles[i * 2 + 1]);
   #endif
 
-  #if SERVO_LEVELING
-    delay(PROBE_SERVO_DEACTIVATION_DELAY);
-    servo[servo_endstops[Z_AXIS]].detach();
-  #endif
 }
 
 /**
@@ -1315,14 +1311,7 @@ static void setup_for_endstop_move() {
       // Engage Z Servo endstop if enabled
       if (servo_endstops[Z_AXIS] >= 0) {
         Servo *srv = &servo[servo_endstops[Z_AXIS]];
-        #if SERVO_LEVELING
-          srv->attach(0);
-        #endif
-        srv->write(servo_endstop_angles[Z_AXIS * 2]);
-        #if SERVO_LEVELING
-          delay(PROBE_SERVO_DEACTIVATION_DELAY);
-          srv->detach();
-        #endif
+        srv->move(0, servo_endstop_angles[Z_AXIS * 2]);
       }
 
     #elif defined(Z_PROBE_ALLEN_KEY)
@@ -1424,14 +1413,7 @@ static void setup_for_endstop_move() {
 
         // Change the Z servo angle
         Servo *srv = &servo[servo_endstops[Z_AXIS]];
-        #if SERVO_LEVELING
-          srv->attach(0);
-        #endif
-        srv->write(servo_endstop_angles[Z_AXIS * 2 + 1]);
-        #if SERVO_LEVELING
-          delay(PROBE_SERVO_DEACTIVATION_DELAY);
-          srv->detach();
-        #endif
+        srv->move(0, servo_endstop_angles[Z_AXIS * 2 + 1]);
       }
 
     #elif defined(Z_PROBE_ALLEN_KEY)
@@ -1683,7 +1665,7 @@ static void homeaxis(AxisEnum axis) {
       if (axis != Z_AXIS) {
         // Engage Servo endstop if enabled
         if (servo_endstops[axis] > -1)
-          servo[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]);
+          servo[servo_endstops[axis]].move(0, servo_endstop_angles[axis * 2]);
       }
     #endif
 
@@ -1786,7 +1768,7 @@ static void homeaxis(AxisEnum axis) {
       {
         // Retract Servo endstop if enabled
         if (servo_endstops[axis] > -1)
-          servo[servo_endstops[axis]].write(servo_endstop_angles[axis * 2 + 1]);
+          servo[servo_endstops[axis]].move(0, servo_endstop_angles[axis * 2 + 1]);
       }
     #endif
 
@@ -4354,14 +4336,7 @@ inline void gcode_M226() {
       servo_position = code_value_short();
       if (servo_index >= 0 && servo_index < NUM_SERVOS) {
         Servo *srv = &servo[servo_index];
-        #if SERVO_LEVELING
-          srv->attach(0);
-        #endif
-        srv->write(servo_position);
-        #if SERVO_LEVELING
-          delay(PROBE_SERVO_DEACTIVATION_DELAY);
-          srv->detach();
-        #endif
+        srv->move(0, servo_position);
       }
       else {
         SERIAL_ECHO_START;