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Added servo actuated enstop coding to allow G28 command to engage and retract a servo to specified angles.

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Gord Christmas 2013-06-06 07:36:52 -07:00
parent 79374f0b93
commit f4f30c9d64
2 changed files with 31 additions and 3 deletions
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10
Marlin/Configuration.h
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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"

22
Marlin/Marlin_main.cpp
View file

@ -351,6 +351,16 @@ 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 +674,16 @@ 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 +706,11 @@ 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)