Merge pull request #506 from codexmas/ServoEndstops

Servo Enstops working!
This commit is contained in:
ErikZalm 2013-06-08 04:41:27 -07:00
commit 3dea417c25
4 changed files with 39 additions and 5 deletions

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@ -470,7 +470,15 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
// leaving it undefined or defining as 0 will disable the servo subsystem // leaving it undefined or defining as 0 will disable the servo subsystem
// If unsure, leave commented / disabled // If unsure, leave commented / disabled
// //
// #define NUM_SERVOS 3 //#define NUM_SERVOS 3 // Servo index starts with 0
// Servo Endstops
//
// This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
// Use M206 command to correct for switch height offset to actual nozzle height. Store that setting with M500.
//
//#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
#include "Configuration_adv.h" #include "Configuration_adv.h"
#include "thermistortables.h" #include "thermistortables.h"

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@ -177,6 +177,10 @@ float extruder_offset[2][EXTRUDERS] = {
#endif #endif
uint8_t active_extruder = 0; uint8_t active_extruder = 0;
int fanSpeed=0; int fanSpeed=0;
#ifdef SERVO_ENDSTOPS
int servo_endstops[] = SERVO_ENDSTOPS;
int servo_endstop_angles[] = SERVO_ENDSTOP_ANGLES;
#endif
#ifdef BARICUDA #ifdef BARICUDA
int ValvePressure=0; int ValvePressure=0;
int EtoPPressure=0; int EtoPPressure=0;
@ -351,6 +355,16 @@ void servo_init()
#if (NUM_SERVOS >= 5) #if (NUM_SERVOS >= 5)
#error "TODO: enter initalisation code for more servos" #error "TODO: enter initalisation code for more servos"
#endif #endif
// Set position of Servo Endstops that are defined
#ifdef SERVO_ENDSTOPS
for(int8_t i = 0; i < 3; i++)
{
if(servo_endstops[i] > -1) {
servos[servo_endstops[i]].write(servo_endstop_angles[i * 2 + 1]);
}
}
#endif
} }
void setup() void setup()
@ -664,11 +678,16 @@ static void axis_is_at_home(int axis) {
static void homeaxis(int axis) { static void homeaxis(int axis) {
#define HOMEAXIS_DO(LETTER) \ #define HOMEAXIS_DO(LETTER) \
((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1)) ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
if (axis==X_AXIS ? HOMEAXIS_DO(X) : if (axis==X_AXIS ? HOMEAXIS_DO(X) :
axis==Y_AXIS ? HOMEAXIS_DO(Y) : axis==Y_AXIS ? HOMEAXIS_DO(Y) :
axis==Z_AXIS ? HOMEAXIS_DO(Z) : axis==Z_AXIS ? HOMEAXIS_DO(Z) :
0) { 0) {
// Engage Servo endstop if enabled
#ifdef SERVO_ENDSTOPS[axis] > -1
servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]);
#endif
current_position[axis] = 0; current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[axis] = 1.5 * max_length(axis) * home_dir(axis); destination[axis] = 1.5 * max_length(axis) * home_dir(axis);
@ -691,6 +710,11 @@ static void homeaxis(int axis) {
destination[axis] = current_position[axis]; destination[axis] = current_position[axis];
feedrate = 0.0; feedrate = 0.0;
endstops_hit_on_purpose(); endstops_hit_on_purpose();
// Retract Servo endstop if enabled
#ifdef SERVO_ENDSTOPS[axis] > -1
servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2 + 1]);
#endif
} }
} }
#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS) #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)

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@ -41,6 +41,8 @@
detach() - Stops an attached servos from pulsing its i/o pin. detach() - Stops an attached servos from pulsing its i/o pin.
*/ */
#include "Configuration.h"
#ifdef NUM_SERVOS #ifdef NUM_SERVOS
#include <avr/interrupt.h> #include <avr/interrupt.h>
#include <Arduino.h> #include <Arduino.h>

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@ -391,7 +391,7 @@
#define SERVO2_PIN 5 #define SERVO2_PIN 5
#endif #endif
#if NUM_SERVOS > 2 #if NUM_SERVOS > 3
#define SERVO3_PIN 4 #define SERVO3_PIN 4
#endif #endif
#endif #endif