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Merge Servo Endstops (PR#2543)

Richard Wackerbarth 9 years ago
parent
525d0dc239 3b2b2313ff
commit
f9195d114b
18 changed files with 25 additions and 27 deletions
Unified View Show Diff Stats
  1. 1
    1
      Marlin/Configuration.h
  2. 8
    10
      Marlin/Marlin_main.cpp
  3. 1
    1
      Marlin/configurator/config/Configuration.h
  4. 1
    1
      Marlin/example_configurations/Felix/Configuration.h
  5. 1
    1
      Marlin/example_configurations/Felix/Configuration_DUAL.h
  6. 1
    1
      Marlin/example_configurations/Hephestos/Configuration.h
  7. 1
    1
      Marlin/example_configurations/K8200/Configuration.h
  8. 1
    1
      Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
  9. 1
    1
      Marlin/example_configurations/RigidBot/Configuration.h
  10. 1
    1
      Marlin/example_configurations/SCARA/Configuration.h
  11. 1
    1
      Marlin/example_configurations/WITBOX/Configuration.h
  12. 1
    1
      Marlin/example_configurations/adafruit/ST7565/Configuration.h
  13. 1
    1
      Marlin/example_configurations/delta/biv2.5/Configuration.h
  14. 1
    1
      Marlin/example_configurations/delta/generic/Configuration.h
  15. 1
    1
      Marlin/example_configurations/delta/kossel_mini/Configuration.h
  16. 1
    1
      Marlin/example_configurations/delta/kossel_pro/Configuration.h
  17. 1
    1
      Marlin/example_configurations/makibox/Configuration.h
  18. 1
    1
      Marlin/example_configurations/tvrrug/Round2/Configuration.h

+ 1
- 1
Marlin/Configuration.h View File

789 
 //#define X_ENDSTOP_SERVO_NR 1
 789 
 //#define X_ENDSTOP_SERVO_NR 1
790 
 //#define Y_ENDSTOP_SERVO_NR 2
 790 
 //#define Y_ENDSTOP_SERVO_NR 2
791 
 //#define Z_ENDSTOP_SERVO_NR 0
 791 
 //#define Z_ENDSTOP_SERVO_NR 0
792 
-//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
792 
+//#define SERVO_ENDSTOP_ANGLES {{0,0}, {0,0}, {70,0}} // X,Y,Z Axis Extend and Retract angles
793
793
794 
 // Servo deactivation
 794 
 // Servo deactivation
795 
 //
 795 
 //

+ 8
- 10
Marlin/Marlin_main.cpp View File

316
316
317 
 #ifdef SERVO_ENDSTOPS
 317 
 #ifdef SERVO_ENDSTOPS
318 
   const int servo_endstops[] = SERVO_ENDSTOPS;
 318 
   const int servo_endstops[] = SERVO_ENDSTOPS;
319 
-  const int servo_endstop_angles[] = SERVO_ENDSTOP_ANGLES;
319 
+  const int servo_endstop_angles[][] = SERVO_ENDSTOP_ANGLES;
320 
 #endif
 320 
 #endif
321
321
322 
 #ifdef BARICUDA
 322 
 #ifdef BARICUDA
581 
   #ifdef SERVO_ENDSTOPS
 581 
   #ifdef SERVO_ENDSTOPS
582 
     for (int i = 0; i < 3; i++)
 582 
     for (int i = 0; i < 3; i++)
583 
       if (servo_endstops[i] >= 0)
 583 
       if (servo_endstops[i] >= 0)
584 
-        servo[servo_endstops[i]].move(servo_endstop_angles[i * 2 + 1]);
584 
+        servo[servo_endstops[i]].move(servo_endstop_angles[i][1]);
585 
   #endif
 585 
   #endif
586
586
587 
 }
 587 
 }
1325 
     #ifdef SERVO_ENDSTOPS
 1325 
     #ifdef SERVO_ENDSTOPS
1326
1326
1327 
       // Engage Z Servo endstop if enabled
 1327 
       // Engage Z Servo endstop if enabled
1328 
-      if (servo_endstops[Z_AXIS] >= 0) servo[servo_endstops[Z_AXIS]].move(servo_endstop_angles[Z_AXIS * 2]);
1328 
+      if (servo_endstops[Z_AXIS] >= 0) servo[servo_endstops[Z_AXIS]].move(servo_endstop_angles[Z_AXIS][0]);
1329
1329
1330 
     #elif defined(Z_PROBE_ALLEN_KEY)
 1330 
     #elif defined(Z_PROBE_ALLEN_KEY)
1331 
       feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE;
 1331 
       feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE;
1425 
         #endif
 1425 
         #endif
1426
1426
1427 
         // Change the Z servo angle
 1427 
         // Change the Z servo angle
1428 
-        servo[servo_endstops[Z_AXIS]].move(servo_endstop_angles[Z_AXIS * 2 + 1]);
1428 
+        servo[servo_endstops[Z_AXIS]].move(servo_endstop_angles[Z_AXIS][1]);
1429 
       }
 1429 
       }
1430
1430
1431 
     #elif defined(Z_PROBE_ALLEN_KEY)
 1431 
     #elif defined(Z_PROBE_ALLEN_KEY)
1677 
     #endif
 1677 
     #endif
1678
1678
1679 
     #ifdef SERVO_ENDSTOPS
 1679 
     #ifdef SERVO_ENDSTOPS
1680 
-      if (axis != Z_AXIS) {
1681 
-        // Engage Servo endstop if enabled
1682 
-        if (servo_endstops[axis] >= 0)
1683 
-          servo[servo_endstops[axis]].move(servo_endstop_angles[axis * 2]);
1684 
-      }
1680 
+      // Engage Servo endstop if enabled
1681 
+      if (axis != Z_AXIS && servo_endstops[axis] >= 0)
1682 
+        servo[servo_endstops[axis]].move(servo_endstop_angles[axis][0]);
1685 
     #endif
 1683 
     #endif
1686
1684
1687 
     // Set a flag for Z motor locking
 1685 
     // Set a flag for Z motor locking
1783 
       #ifdef SERVO_ENDSTOPS
 1781 
       #ifdef SERVO_ENDSTOPS
1784 
         // Retract Servo endstop if enabled
 1782 
         // Retract Servo endstop if enabled
1785 
         if (servo_endstops[axis] >= 0)
 1783 
         if (servo_endstops[axis] >= 0)
1786 
-          servo[servo_endstops[axis]].move(servo_endstop_angles[axis * 2 + 1]);
1784 
+          servo[servo_endstops[axis]].move(servo_endstop_angles[axis][1]);
1787 
       #endif
 1785 
       #endif
1788 
     }
 1786 
     }
1789
1787

+ 1
- 1
Marlin/configurator/config/Configuration.h View File

789 
 //#define X_ENDSTOP_SERVO_NR 1
 789 
 //#define X_ENDSTOP_SERVO_NR 1
790 
 //#define Y_ENDSTOP_SERVO_NR 2
 790 
 //#define Y_ENDSTOP_SERVO_NR 2
791 
 //#define Z_ENDSTOP_SERVO_NR 0
 791 
 //#define Z_ENDSTOP_SERVO_NR 0
792 
-//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
792 
+//#define SERVO_ENDSTOP_ANGLES {{0,0}, {0,0}, {70,0}} // X,Y,Z Axis Extend and Retract angles
793
793
794 
 // Servo deactivation
 794 
 // Servo deactivation
795 
 //
 795 
 //

+ 1
- 1
Marlin/example_configurations/Felix/Configuration.h View File

767 
 //#define X_ENDSTOP_SERVO_NR 1
 767 
 //#define X_ENDSTOP_SERVO_NR 1
768 
 //#define Y_ENDSTOP_SERVO_NR 2
 768 
 //#define Y_ENDSTOP_SERVO_NR 2
769 
 //#define Z_ENDSTOP_SERVO_NR 0
 769 
 //#define Z_ENDSTOP_SERVO_NR 0
770 
-//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
770 
+//#define SERVO_ENDSTOP_ANGLES {{0,0}, {0,0}, {70,0}} // X,Y,Z Axis Extend and Retract angles
771
771
772 
 // Servo deactivation
 772 
 // Servo deactivation
773 
 //
 773 
 //

+ 1
- 1
Marlin/example_configurations/Felix/Configuration_DUAL.h View File

719 
 //#define X_ENDSTOP_SERVO_NR 1
 719 
 //#define X_ENDSTOP_SERVO_NR 1
720 
 //#define Y_ENDSTOP_SERVO_NR 2
 720 
 //#define Y_ENDSTOP_SERVO_NR 2
721 
 //#define Z_ENDSTOP_SERVO_NR 0
 721 
 //#define Z_ENDSTOP_SERVO_NR 0
722 
-//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
722 
+//#define SERVO_ENDSTOP_ANGLES {{0,0}, {0,0}, {70,0}} // X,Y,Z Axis Extend and Retract angles
723
723
724 
 // Servo deactivation
 724 
 // Servo deactivation
725 
 //
 725 
 //

+ 1
- 1
Marlin/example_configurations/Hephestos/Configuration.h View File

776 
 //#define X_ENDSTOP_SERVO_NR 1
 776 
 //#define X_ENDSTOP_SERVO_NR 1
777 
 //#define Y_ENDSTOP_SERVO_NR 2
 777 
 //#define Y_ENDSTOP_SERVO_NR 2
778 
 //#define Z_ENDSTOP_SERVO_NR 0
 778 
 //#define Z_ENDSTOP_SERVO_NR 0
779 
-//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
779 
+//#define SERVO_ENDSTOP_ANGLES {{0,0}, {0,0}, {70,0}} // X,Y,Z Axis Extend and Retract angles
780
780
781 
 // Servo deactivation
 781 
 // Servo deactivation
782 
 //
 782 
 //

+ 1
- 1
Marlin/example_configurations/K8200/Configuration.h View File

772 
 //#define X_ENDSTOP_SERVO_NR 1
 772 
 //#define X_ENDSTOP_SERVO_NR 1
773 
 //#define Y_ENDSTOP_SERVO_NR 2
 773 
 //#define Y_ENDSTOP_SERVO_NR 2
774 
 //#define Z_ENDSTOP_SERVO_NR 0
 774 
 //#define Z_ENDSTOP_SERVO_NR 0
775 
-//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
775 
+//#define SERVO_ENDSTOP_ANGLES {{0,0}, {0,0}, {70,0}} // X,Y,Z Axis Extend and Retract angles
776
776
777 
 // Servo deactivation
 777 
 // Servo deactivation
778 
 //
 778 
 //

+ 1
- 1
Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h View File

784 
 //#define X_ENDSTOP_SERVO_NR 1
 784 
 //#define X_ENDSTOP_SERVO_NR 1
785 
 //#define Y_ENDSTOP_SERVO_NR 2
 785 
 //#define Y_ENDSTOP_SERVO_NR 2
786 
 //#define Z_ENDSTOP_SERVO_NR 0
 786 
 //#define Z_ENDSTOP_SERVO_NR 0
787 
-//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
787 
+//#define SERVO_ENDSTOP_ANGLES {{0,0}, {0,0}, {70,0}} // X,Y,Z Axis Extend and Retract angles
788
788
789 
 // Servo deactivation
 789 
 // Servo deactivation
790 
 //
 790 
 //

+ 1
- 1
Marlin/example_configurations/RigidBot/Configuration.h View File

767 
 //#define X_ENDSTOP_SERVO_NR 1
 767 
 //#define X_ENDSTOP_SERVO_NR 1
768 
 //#define Y_ENDSTOP_SERVO_NR 2
 768 
 //#define Y_ENDSTOP_SERVO_NR 2
769 
 //#define Z_ENDSTOP_SERVO_NR 0
 769 
 //#define Z_ENDSTOP_SERVO_NR 0
770 
-//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
770 
+//#define SERVO_ENDSTOP_ANGLES {{0,0}, {0,0}, {70,0}} // X,Y,Z Axis Extend and Retract angles
771
771
772 
 // Servo deactivation
 772 
 // Servo deactivation
773 
 //
 773 
 //

+ 1
- 1
Marlin/example_configurations/SCARA/Configuration.h View File

792 
 //#define X_ENDSTOP_SERVO_NR 1
 792 
 //#define X_ENDSTOP_SERVO_NR 1
793 
 //#define Y_ENDSTOP_SERVO_NR 2
 793 
 //#define Y_ENDSTOP_SERVO_NR 2
794 
 //#define Z_ENDSTOP_SERVO_NR 0
 794 
 //#define Z_ENDSTOP_SERVO_NR 0
795 
-//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
795 
+//#define SERVO_ENDSTOP_ANGLES {{0,0}, {0,0}, {70,0}} // X,Y,Z Axis Extend and Retract angles
796
796
797 
 // Servo deactivation
 797 
 // Servo deactivation
798 
 //
 798 
 //

+ 1
- 1
Marlin/example_configurations/WITBOX/Configuration.h View File

776 
 //#define X_ENDSTOP_SERVO_NR 1
 776 
 //#define X_ENDSTOP_SERVO_NR 1
777 
 //#define Y_ENDSTOP_SERVO_NR 2
 777 
 //#define Y_ENDSTOP_SERVO_NR 2
778 
 //#define Z_ENDSTOP_SERVO_NR 0
 778 
 //#define Z_ENDSTOP_SERVO_NR 0
779 
-//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
779 
+//#define SERVO_ENDSTOP_ANGLES {{0,0}, {0,0}, {70,0}} // X,Y,Z Axis Extend and Retract angles
780
780
781 
 // Servo deactivation
 781 
 // Servo deactivation
782 
 //
 782 
 //

+ 1
- 1
Marlin/example_configurations/adafruit/ST7565/Configuration.h View File

784 
 //#define X_ENDSTOP_SERVO_NR 1
 784 
 //#define X_ENDSTOP_SERVO_NR 1
785 
 //#define Y_ENDSTOP_SERVO_NR 2
 785 
 //#define Y_ENDSTOP_SERVO_NR 2
786 
 //#define Z_ENDSTOP_SERVO_NR 0
 786 
 //#define Z_ENDSTOP_SERVO_NR 0
787 
-//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
787 
+//#define SERVO_ENDSTOP_ANGLES {{0,0}, {0,0}, {70,0}} // X,Y,Z Axis Extend and Retract angles
788
788
789 
 // Servo deactivation
 789 
 // Servo deactivation
790 
 //
 790 
 //

+ 1
- 1
Marlin/example_configurations/delta/biv2.5/Configuration.h View File

907 
 //#define X_ENDSTOP_SERVO_NR 1
 907 
 //#define X_ENDSTOP_SERVO_NR 1
908 
 //#define Y_ENDSTOP_SERVO_NR 2
 908 
 //#define Y_ENDSTOP_SERVO_NR 2
909 
 //#define Z_ENDSTOP_SERVO_NR 0
 909 
 //#define Z_ENDSTOP_SERVO_NR 0
910 
-//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
910 
+//#define SERVO_ENDSTOP_ANGLES {{0,0}, {0,0}, {70,0}} // X,Y,Z Axis Extend and Retract angles
911
911
912 
 // Servo deactivation
 912 
 // Servo deactivation
913 
 //
 913 
 //

+ 1
- 1
Marlin/example_configurations/delta/generic/Configuration.h View File

911 
 //#define X_ENDSTOP_SERVO_NR 1
 911 
 //#define X_ENDSTOP_SERVO_NR 1
912 
 //#define Y_ENDSTOP_SERVO_NR 2
 912 
 //#define Y_ENDSTOP_SERVO_NR 2
913 
 //#define Z_ENDSTOP_SERVO_NR 0
 913 
 //#define Z_ENDSTOP_SERVO_NR 0
914 
-//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
914 
+//#define SERVO_ENDSTOP_ANGLES {{0,0}, {0,0}, {70,0}} // X,Y,Z Axis Extend and Retract angles
915
915
916 
 // Servo deactivation
 916 
 // Servo deactivation
917 
 //
 917 
 //

+ 1
- 1
Marlin/example_configurations/delta/kossel_mini/Configuration.h View File

911 
 //#define X_ENDSTOP_SERVO_NR 1
 911 
 //#define X_ENDSTOP_SERVO_NR 1
912 
 //#define Y_ENDSTOP_SERVO_NR 2
 912 
 //#define Y_ENDSTOP_SERVO_NR 2
913 
 //#define Z_ENDSTOP_SERVO_NR 0
 913 
 //#define Z_ENDSTOP_SERVO_NR 0
914 
-//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
914 
+//#define SERVO_ENDSTOP_ANGLES {{0,0}, {0,0}, {70,0}} // X,Y,Z Axis Extend and Retract angles
915
915
916 
 // Servo deactivation
 916 
 // Servo deactivation
917 
 //
 917 
 //

+ 1
- 1
Marlin/example_configurations/delta/kossel_pro/Configuration.h View File

906 
 //#define X_ENDSTOP_SERVO_NR 1
 906 
 //#define X_ENDSTOP_SERVO_NR 1
907 
 //#define Y_ENDSTOP_SERVO_NR 2
 907 
 //#define Y_ENDSTOP_SERVO_NR 2
908 
 //#define Z_ENDSTOP_SERVO_NR 0
 908 
 //#define Z_ENDSTOP_SERVO_NR 0
909 
-//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
909 
+//#define SERVO_ENDSTOP_ANGLES {{0,0}, {0,0}, {70,0}} // X,Y,Z Axis Extend and Retract angles
910
910
911 
 // Servo deactivation
 911 
 // Servo deactivation
912 
 //
 912 
 //

+ 1
- 1
Marlin/example_configurations/makibox/Configuration.h View File

787 
 //#define X_ENDSTOP_SERVO_NR 1
 787 
 //#define X_ENDSTOP_SERVO_NR 1
788 
 //#define Y_ENDSTOP_SERVO_NR 2
 788 
 //#define Y_ENDSTOP_SERVO_NR 2
789 
 //#define Z_ENDSTOP_SERVO_NR 0
 789 
 //#define Z_ENDSTOP_SERVO_NR 0
790 
-//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
790 
+//#define SERVO_ENDSTOP_ANGLES {{0,0}, {0,0}, {70,0}} // X,Y,Z Axis Extend and Retract angles
791
791
792 
 // Servo deactivation
 792 
 // Servo deactivation
793 
 //
 793 
 //

+ 1
- 1
Marlin/example_configurations/tvrrug/Round2/Configuration.h View File

778 
 //#define X_ENDSTOP_SERVO_NR 1
 778 
 //#define X_ENDSTOP_SERVO_NR 1
779 
 //#define Y_ENDSTOP_SERVO_NR 2
 779 
 //#define Y_ENDSTOP_SERVO_NR 2
780 
 //#define Z_ENDSTOP_SERVO_NR 0
 780 
 //#define Z_ENDSTOP_SERVO_NR 0
781 
-//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
781 
+//#define SERVO_ENDSTOP_ANGLES {{0,0}, {0,0}, {70,0}} // X,Y,Z Axis Extend and Retract angles
782
782
783 
 // Servo deactivation
 783 
 // Servo deactivation
784 
 //
 784 
 //

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