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76 lines
2.3 KiB
76 lines
2.3 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 HAS_SERVOS
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#include "../gcode.h"
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#include "../../module/servo.h"
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#include "../../module/planner.h"
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/**
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* M280: Get or set servo position.
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* P<index> - Servo index
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* S<angle> - Angle to set, omit to read current angle, or use -1 to detach
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*
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* With POLARGRAPH:
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* T<ms> - Duration of servo move
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*/
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void GcodeSuite::M280() {
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if (!parser.seenval('P')) return;
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TERN_(POLARGRAPH, planner.synchronize());
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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 (parser.seenval('S')) {
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const int anew = parser.value_int();
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if (anew >= 0) {
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#if ENABLED(POLARGRAPH)
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if (parser.seenval('T')) { // (ms) Total duration of servo move
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const int16_t t = constrain(parser.value_int(), 0, 10000);
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const int aold = servo[servo_index].read();
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millis_t now = millis();
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const millis_t start = now, end = start + t;
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while (PENDING(now, end)) {
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safe_delay(50);
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now = _MIN(millis(), end);
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servo[servo_index].move(LROUND(aold + (anew - aold) * (float(now - start) / t)));
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}
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}
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#endif // POLARGRAPH
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servo[servo_index].move(anew);
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}
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else
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servo[servo_index].detach();
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}
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else
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SERIAL_ECHO_MSG(" Servo ", servo_index, ": ", servo[servo_index].read());
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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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#endif // HAS_SERVOS
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