bissen21/Marlin_Firmware
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Patch servos code for move

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- Have `Servo::attach` explicitly return -1 if it fails
- Check for -1 in `Servo::move` because `servoIndex` might be 0
- Make `attach` / `detach` calls conditional on `SERVO_LEVELING`
- Move `SERVO_LEVELING` define to `Conditionals.h`
This commit is contained in:
Scott Lahteine
2015-07-19 11:24:23 -07:00
parent 54ddc1d417
commit 3b23ccd366
4 changed files with 32 additions and 25 deletions
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47
Marlin/servo.cpp
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@ -35,7 +35,7 @@
write() - Sets the servo angle in degrees. (invalid angle that is valid as pulse in microseconds is treated as microseconds)
writeMicroseconds() - Sets the servo pulse width in microseconds
move(pin, angel) - Sequence of attach(pin), write(angel).
move(pin, angle) - Sequence of attach(pin), write(angle).
With DEACTIVATE_SERVOS_AFTER_MOVE it waits SERVO_DEACTIVATION_DELAY and detaches.
read() - Gets the last written servo pulse width as an angle between 0 and 180.
readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
@ -238,23 +238,26 @@ Servo::Servo() {
this->servoIndex = INVALID_SERVO; // too many servos
}
uint8_t Servo::attach(int pin) {
int8_t Servo::attach(int pin) {
return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
}
uint8_t Servo::attach(int pin, int min, int max) {
if (this->servoIndex < MAX_SERVOS ) {
if(pin > 0)
servos[this->servoIndex].Pin.nbr = pin;
pinMode(servos[this->servoIndex].Pin.nbr, OUTPUT); // set servo pin to output
// todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
this->min = (MIN_PULSE_WIDTH - min) / 4; //resolution of min/max is 4 uS
this->max = (MAX_PULSE_WIDTH - max) / 4;
// initialize the timer if it has not already been initialized
timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
if (!isTimerActive(timer)) initISR(timer);
servos[this->servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive
}
int8_t Servo::attach(int pin, int min, int max) {
if (this->servoIndex >= MAX_SERVOS) return -1;
if (pin > 0) servos[this->servoIndex].Pin.nbr = pin;
pinMode(servos[this->servoIndex].Pin.nbr, OUTPUT); // set servo pin to output
// todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
this->min = (MIN_PULSE_WIDTH - min) / 4; //resolution of min/max is 4 uS
this->max = (MAX_PULSE_WIDTH - max) / 4;
// initialize the timer if it has not already been initialized
timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
if (!isTimerActive(timer)) initISR(timer);
servos[this->servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive
return this->servoIndex;
}
@ -301,12 +304,16 @@ int Servo::readMicroseconds() {
bool Servo::attached() { return servos[this->servoIndex].Pin.isActive; }
uint8_t Servo::move(int pin, int value) {
uint8_t ret;
ret = this->attach(pin);
if (ret) {
int8_t Servo::move(int pin, int value) {
int8_t ret;
#if SERVO_LEVELING
ret = this->attach(pin);
#else
ret = this->servoIndex;
#endif
if (ret >= 0) {
this->write(value);
#ifdef DEACTIVATE_SERVOS_AFTER_MOVE && (SERVO_DEACTIVATION_DELAY > 0)
#if SERVO_LEVELING
delay(SERVO_DEACTIVATION_DELAY);
this->detach();
#endif