🧑‍💻 Remove servo macros

Marlin/src/feature/bltouch.cpp

@@ -45,7 +45,7 @@ void stop();
 
 bool BLTouch::command(const BLTCommand cmd, const millis_t &ms) {
   if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("BLTouch Command :", cmd);
-  MOVE_SERVO(Z_PROBE_SERVO_NR, cmd);
+  servo[Z_PROBE_SERVO_NR].move(cmd);
   safe_delay(_MAX(ms, (uint32_t)BLTOUCH_DELAY)); // BLTOUCH_DELAY is also the *minimum* delay
   return triggered();
 }

Marlin/src/feature/spindle_laser.cpp

@@ -58,7 +58,7 @@ cutter_power_t SpindleLaser::menuPower,                               // Power s
  */
 void SpindleLaser::init() {
   #if ENABLED(SPINDLE_SERVO)
-    MOVE_SERVO(SPINDLE_SERVO_NR, SPINDLE_SERVO_MIN);
+    servo[SPINDLE_SERVO_NR].move(SPINDLE_SERVO_MIN);
   #else
     OUT_WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE);    // Init spindle to off
   #endif
@@ -131,7 +131,7 @@ void SpindleLaser::apply_power(const uint8_t opwr) {
       isReady = false;
     }
   #elif ENABLED(SPINDLE_SERVO)
-    MOVE_SERVO(SPINDLE_SERVO_NR, power);
+    servo[SPINDLE_SERVO_NR].move(power);
   #else
     WRITE(SPINDLE_LASER_ENA_PIN, enabled() ? SPINDLE_LASER_ACTIVE_STATE : !SPINDLE_LASER_ACTIVE_STATE);
     isReady = true;

Marlin/src/gcode/config/M43.cpp

@@ -198,10 +198,10 @@ inline void servo_probe_test() {
       uint8_t i = 0;
       SERIAL_ECHOLNPGM(". Deploy & stow 4 times");
       do {
-        MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][0]); // Deploy
+        servo[probe_index].move(servo_angles[Z_PROBE_SERVO_NR][0]); // Deploy
         safe_delay(500);
         deploy_state = READ(PROBE_TEST_PIN);
-        MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][1]); // Stow
+        servo[probe_index].move(servo_angles[Z_PROBE_SERVO_NR][1]); // Stow
         safe_delay(500);
         stow_state = READ(PROBE_TEST_PIN);
       } while (++i < 4);
@@ -226,7 +226,7 @@ inline void servo_probe_test() {
     }
 
     // Ask the user for a trigger event and measure the pulse width.
-    MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][0]); // Deploy
+    servo[probe_index].move(servo_angles[Z_PROBE_SERVO_NR][0]); // Deploy
     safe_delay(500);
     SERIAL_ECHOLNPGM("** Please trigger probe within 30 sec **");
     uint16_t probe_counter = 0;
@@ -256,7 +256,7 @@ inline void servo_probe_test() {
         }
         else SERIAL_ECHOLNPGM("FAIL: Noise detected - please re-run test");
 
-        MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][1]); // Stow
+        servo[probe_index].move(servo_angles[Z_PROBE_SERVO_NR][1]); // Stow
         return;
       }
     }

Marlin/src/gcode/control/M280.cpp

@@ -56,14 +56,14 @@ void GcodeSuite::M280() {
             while (PENDING(now, end)) {
               safe_delay(50);
               now = _MIN(millis(), end);
-              MOVE_SERVO(servo_index, LROUND(aold + (anew - aold) * (float(now - start) / t)));
+              servo[servo_index].move(LROUND(aold + (anew - aold) * (float(now - start) / t)));
             }
           }
         #endif // POLARGRAPH
-        MOVE_SERVO(servo_index, anew);
+        servo[servo_index].move(anew);
       }
       else
-        DETACH_SERVO(servo_index);
+        servo[servo_index].detach();
     }
     else
       SERIAL_ECHO_MSG(" Servo ", servo_index, ": ", servo[servo_index].read());

Marlin/src/gcode/control/M282.cpp

@@ -36,7 +36,7 @@ void GcodeSuite::M282() {
 
   const int servo_index = parser.value_int();
   if (WITHIN(servo_index, 0, NUM_SERVOS - 1))
-    DETACH_SERVO(servo_index);
+    servo[servo_index].detach();
   else
     SERIAL_ECHO_MSG("Servo ", servo_index, " out of range");
 

Marlin/src/module/probe.cpp

@@ -343,7 +343,7 @@ FORCE_INLINE void probe_specific_action(const bool deploy) {
 
   #elif HAS_Z_SERVO_PROBE
 
-    MOVE_SERVO(Z_PROBE_SERVO_NR, servo_angles[Z_PROBE_SERVO_NR][deploy ? 0 : 1]);
+    servo[Z_PROBE_SERVO_NR].move(servo_angles[Z_PROBE_SERVO_NR][deploy ? 0 : 1]);
 
   #elif EITHER(TOUCH_MI_PROBE, Z_PROBE_ALLEN_KEY)
 

Marlin/src/module/servo.cpp

@@ -39,19 +39,19 @@ hal_servo_t servo[NUM_SERVOS];
 void servo_init() {
   #if NUM_SERVOS >= 1 && HAS_SERVO_0
     servo[0].attach(SERVO0_PIN);
-    DETACH_SERVO(0); // Just set up the pin. We don't have a position yet. Don't move to a random position.
+    servo[0].detach(); // Just set up the pin. We don't have a position yet. Don't move to a random position.
   #endif
   #if NUM_SERVOS >= 2 && HAS_SERVO_1
     servo[1].attach(SERVO1_PIN);
-    DETACH_SERVO(1);
+    servo[1].detach();
   #endif
   #if NUM_SERVOS >= 3 && HAS_SERVO_2
     servo[2].attach(SERVO2_PIN);
-    DETACH_SERVO(2);
+    servo[2].detach();
   #endif
   #if NUM_SERVOS >= 4 && HAS_SERVO_3
     servo[3].attach(SERVO3_PIN);
-    DETACH_SERVO(3);
+    servo[3].detach();
   #endif
 }
 

Marlin/src/module/servo.h

@@ -103,14 +103,11 @@
   };
 
   #if HAS_Z_SERVO_PROBE
-    #define DEPLOY_Z_SERVO() MOVE_SERVO(Z_PROBE_SERVO_NR, servo_angles[Z_PROBE_SERVO_NR][0])
-    #define STOW_Z_SERVO() MOVE_SERVO(Z_PROBE_SERVO_NR, servo_angles[Z_PROBE_SERVO_NR][1])
+    #define DEPLOY_Z_SERVO() servo[Z_PROBE_SERVO_NR].move(servo_angles[Z_PROBE_SERVO_NR][0])
+    #define STOW_Z_SERVO() servo[Z_PROBE_SERVO_NR].move(servo_angles[Z_PROBE_SERVO_NR][1])
   #endif
 
 #endif // HAS_SERVO_ANGLES
 
-#define MOVE_SERVO(I, P) servo[I].move(P)
-#define DETACH_SERVO(I) servo[I].detach()
-
 extern hal_servo_t servo[NUM_SERVOS];
 void servo_init();

Marlin/src/module/temperature.cpp

@@ -1881,7 +1881,7 @@ void Temperature::manage_heater() {
         #endif
         #if ENABLED(CHAMBER_VENT)
           flag_chamber_excess_heat = false;
-          MOVE_SERVO(CHAMBER_VENT_SERVO_NR, 90);
+          servo[CHAMBER_VENT_SERVO_NR].move(90);
         #endif
       }
     #endif
@@ -1897,7 +1897,7 @@ void Temperature::manage_heater() {
           if (flag_chamber_excess_heat) {
             temp_chamber.soft_pwm_amount = 0;
             #if ENABLED(CHAMBER_VENT)
-              if (!flag_chamber_off) MOVE_SERVO(CHAMBER_VENT_SERVO_NR, temp_chamber.celsius <= temp_chamber.target ? 0 : 90);
+              if (!flag_chamber_off) servo[CHAMBER_VENT_SERVO_NR].move(temp_chamber.celsius <= temp_chamber.target ? 0 : 90);
             #endif
           }
           else {
@@ -1910,7 +1910,7 @@ void Temperature::manage_heater() {
               temp_chamber.soft_pwm_amount = temp_chamber.celsius < temp_chamber.target ? (MAX_CHAMBER_POWER) >> 1 : 0;
             #endif
             #if ENABLED(CHAMBER_VENT)
-              if (!flag_chamber_off) MOVE_SERVO(CHAMBER_VENT_SERVO_NR, 0);
+              if (!flag_chamber_off) servo[CHAMBER_VENT_SERVO_NR].move(0);
             #endif
           }
         }

Marlin/src/module/tool_change.cpp

@@ -116,7 +116,7 @@
   void move_extruder_servo(const uint8_t e) {
     planner.synchronize();
     if ((EXTRUDERS & 1) && e < EXTRUDERS - 1) {
-      MOVE_SERVO(_SERVO_NR(e), servo_angles[_SERVO_NR(e)][e & 1]);
+      servo[_SERVO_NR(e)].move(servo_angles[_SERVO_NR(e)][e & 1]);
       safe_delay(500);
     }
   }
@@ -131,7 +131,7 @@
       constexpr int8_t  sns_index[2] = { SWITCHING_NOZZLE_SERVO_NR, SWITCHING_NOZZLE_E1_SERVO_NR };
       constexpr int16_t sns_angles[2] = SWITCHING_NOZZLE_SERVO_ANGLES;
       planner.synchronize();
-      MOVE_SERVO(sns_index[e], sns_angles[angle_index]);
+      servo[sns_index[e]].move(sns_angles[angle_index]);
       safe_delay(500);
     }
 
@@ -142,7 +142,7 @@
 
     void move_nozzle_servo(const uint8_t angle_index) {
       planner.synchronize();
-      MOVE_SERVO(SWITCHING_NOZZLE_SERVO_NR, servo_angles[SWITCHING_NOZZLE_SERVO_NR][angle_index]);
+      servo[SWITCHING_NOZZLE_SERVO_NR].move(servo_angles[SWITCHING_NOZZLE_SERVO_NR][angle_index]);
       safe_delay(500);
     }
 
@@ -443,7 +443,7 @@ void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_axis, 0.
   inline void switching_toolhead_lock(const bool locked) {
     #ifdef SWITCHING_TOOLHEAD_SERVO_ANGLES
       const uint16_t swt_angles[2] = SWITCHING_TOOLHEAD_SERVO_ANGLES;
-      MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, swt_angles[locked ? 0 : 1]);
+      servo[SWITCHING_TOOLHEAD_SERVO_NR].move(swt_angles[locked ? 0 : 1]);
     #elif PIN_EXISTS(SWT_SOLENOID)
       OUT_WRITE(SWT_SOLENOID_PIN, locked);
       gcode.dwell(10);