You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
67 lines
2.2 KiB
67 lines
2.2 KiB
/**
|
|
* Marlin 3D Printer Firmware
|
|
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|
*
|
|
* Based on Sprinter and grbl.
|
|
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
|
|
*
|
|
* This program is free software: you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with this program. If not, see <https://www.gnu.org/licenses/>.
|
|
*
|
|
*/
|
|
#ifdef ARDUINO_ARCH_ESP32
|
|
|
|
#include "../../inc/MarlinConfig.h"
|
|
|
|
#if HAS_SERVOS
|
|
|
|
#include "Servo.h"
|
|
|
|
// Adjacent channels (0/1, 2/3 etc.) share the same timer and therefore the same frequency and resolution settings on ESP32,
|
|
// so we only allocate servo channels up high to avoid side effects with regards to analogWrite (fans, leds, laser pwm etc.)
|
|
int Servo::channel_next_free = 12;
|
|
|
|
Servo::Servo() {}
|
|
|
|
int8_t Servo::attach(const int inPin) {
|
|
if (inPin > 0) pin = inPin;
|
|
channel = get_pwm_channel(pin, 50u, 16u);
|
|
return channel; // -1 if no PWM avail.
|
|
}
|
|
|
|
// leave channel connected to servo - set duty to zero
|
|
void Servo::detach() {
|
|
if (channel >= 0) ledcWrite(channel, 0);
|
|
}
|
|
|
|
int Servo::read() { return degrees; }
|
|
|
|
void Servo::write(int inDegrees) {
|
|
degrees = constrain(inDegrees, MIN_ANGLE, MAX_ANGLE);
|
|
int us = map(degrees, MIN_ANGLE, MAX_ANGLE, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
|
|
int duty = map(us, 0, TAU_USEC, 0, MAX_COMPARE);
|
|
if (channel >= 0) ledcWrite(channel, duty); // don't save duty for servos!
|
|
}
|
|
|
|
void Servo::move(const int value) {
|
|
constexpr uint16_t servo_delay[] = SERVO_DELAY;
|
|
static_assert(COUNT(servo_delay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");
|
|
if (attach(0) >= 0) {
|
|
write(value);
|
|
safe_delay(servo_delay[channel]);
|
|
TERN_(DEACTIVATE_SERVOS_AFTER_MOVE, detach());
|
|
}
|
|
}
|
|
#endif // HAS_SERVOS
|
|
|
|
#endif // ARDUINO_ARCH_ESP32
|
|
|