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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <https://www.gnu.org/licenses/>.
- *
- */
-
- #include "../../inc/MarlinConfig.h"
-
- #if ENABLED(EDITABLE_SERVO_ANGLES)
-
- #include "../gcode.h"
- #include "../../module/servo.h"
-
- /**
- * M281 - Edit / Report Servo Angles
- *
- * P<index> - Servo to update
- * L<angle> - Deploy Angle
- * U<angle> - Stowed Angle
- */
- void GcodeSuite::M281() {
- if (!parser.seen_any()) return M281_report();
-
- if (!parser.seenval('P')) return;
-
- const int servo_index = parser.value_int();
- if (WITHIN(servo_index, 0, NUM_SERVOS - 1)) {
- #if ENABLED(BLTOUCH)
- if (servo_index == Z_PROBE_SERVO_NR) {
- SERIAL_ERROR_MSG("BLTouch angles can't be changed.");
- return;
- }
- #endif
- if (parser.seenval('L')) servo_angles[servo_index][0] = parser.value_int();
- if (parser.seenval('U')) servo_angles[servo_index][1] = parser.value_int();
- }
- else
- SERIAL_ERROR_MSG("Servo ", servo_index, " out of range");
- }
-
- void GcodeSuite::M281_report(const bool forReplay/*=true*/) {
- report_heading_etc(forReplay, F(STR_SERVO_ANGLES));
- LOOP_L_N(i, NUM_SERVOS) {
- switch (i) {
- default: break;
- #if ENABLED(SWITCHING_EXTRUDER)
- case SWITCHING_EXTRUDER_SERVO_NR:
- #if EXTRUDERS > 3
- case SWITCHING_EXTRUDER_E23_SERVO_NR:
- #endif
- #elif ENABLED(SWITCHING_NOZZLE)
- case SWITCHING_NOZZLE_SERVO_NR:
- #elif ENABLED(BLTOUCH) || (HAS_Z_SERVO_PROBE && defined(Z_SERVO_ANGLES))
- case Z_PROBE_SERVO_NR:
- #endif
- report_echo_start(forReplay);
- SERIAL_ECHOLNPGM(" M281 P", i, " L", servo_angles[i][0], " U", servo_angles[i][1]);
- }
- }
- }
-
- #endif // EDITABLE_SERVO_ANGLES
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