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78 lines
2.4 KiB
78 lines
2.4 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#include "../../inc/MarlinConfig.h"
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#if ENABLED(EDITABLE_SERVO_ANGLES)
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#include "../gcode.h"
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#include "../../module/servo.h"
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/**
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* M281 - Edit / Report Servo Angles
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*
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* P<index> - Servo to update
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* L<angle> - Deploy Angle
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* U<angle> - Stowed Angle
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*/
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void GcodeSuite::M281() {
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if (!parser.seen_any()) return M281_report();
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if (!parser.seenval('P')) return;
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const int servo_index = parser.value_int();
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if (WITHIN(servo_index, 0, NUM_SERVOS - 1)) {
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#if ENABLED(BLTOUCH)
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if (servo_index == Z_PROBE_SERVO_NR) {
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SERIAL_ERROR_MSG("BLTouch angles can't be changed.");
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return;
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}
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#endif
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if (parser.seenval('L')) servo_angles[servo_index][0] = parser.value_int();
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if (parser.seenval('U')) servo_angles[servo_index][1] = parser.value_int();
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}
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else
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SERIAL_ERROR_MSG("Servo ", servo_index, " out of range");
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}
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void GcodeSuite::M281_report(const bool forReplay/*=true*/) {
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report_heading_etc(forReplay, F(STR_SERVO_ANGLES));
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LOOP_L_N(i, NUM_SERVOS) {
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switch (i) {
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default: break;
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#if ENABLED(SWITCHING_EXTRUDER)
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case SWITCHING_EXTRUDER_SERVO_NR:
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#if EXTRUDERS > 3
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case SWITCHING_EXTRUDER_E23_SERVO_NR:
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#endif
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#elif ENABLED(SWITCHING_NOZZLE)
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case SWITCHING_NOZZLE_SERVO_NR:
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#elif ENABLED(BLTOUCH) || (HAS_Z_SERVO_PROBE && defined(Z_SERVO_ANGLES))
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case Z_PROBE_SERVO_NR:
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#endif
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report_echo_start(forReplay);
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SERIAL_ECHOLNPGM(" M281 P", i, " L", servo_angles[i][0], " U", servo_angles[i][1]);
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}
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}
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}
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#endif // EDITABLE_SERVO_ANGLES
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