From f4f30c9d6458b9851142f0d0b2f37acbff0d155a Mon Sep 17 00:00:00 2001
From: Gord Christmas <codexmas@gmail.com>
Date: Thu, 6 Jun 2013 07:36:52 -0700
Subject: [PATCH 1/2] Added servo actuated enstop coding to allow G28 command
to engage and retract a servo to specified angles.
---
Marlin/Configuration.h | 10 +++++++++-
Marlin/Marlin_main.cpp | 24 ++++++++++++++++++++++--
2 files changed, 31 insertions(+), 3 deletions(-)
diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 0c8dd5500a..80961d4cbf 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -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
// 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 "thermistortables.h"
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 39a838d40b..f76334571b 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -351,6 +351,16 @@ void servo_init()
#if (NUM_SERVOS >= 5)
#error "TODO: enter initalisation code for more servos"
#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()
@@ -664,11 +674,16 @@ static void axis_is_at_home(int axis) {
static void homeaxis(int axis) {
#define HOMEAXIS_DO(LETTER) \
((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
-
if (axis==X_AXIS ? HOMEAXIS_DO(X) :
axis==Y_AXIS ? HOMEAXIS_DO(Y) :
axis==Z_AXIS ? HOMEAXIS_DO(Z) :
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;
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);
@@ -691,6 +706,11 @@ static void homeaxis(int axis) {
destination[axis] = current_position[axis];
feedrate = 0.0;
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)
@@ -2281,4 +2301,4 @@ bool setTargetedHotend(int code){
}
}
return false;
-}
+}
\ No newline at end of file
From a733537ddd9667d57cbff5bdf2818ab4241ff2da Mon Sep 17 00:00:00 2001
From: Gord Christmas <codexmas@gmail.com>
Date: Thu, 6 Jun 2013 09:18:03 -0700
Subject: [PATCH 2/2] Missed some variable declarations Integrated fixes from
henrikbrixandersen pull request #504
---
Marlin/Marlin_main.cpp | 4 ++++
Marlin/Servo.cpp | 2 ++
Marlin/pins.h | 4 ++--
3 files changed, 8 insertions(+), 2 deletions(-)
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index f76334571b..f2bcb9a385 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -177,6 +177,10 @@ float extruder_offset[2][EXTRUDERS] = {
#endif
uint8_t active_extruder = 0;
int fanSpeed=0;
+#ifdef SERVO_ENDSTOPS
+ int servo_endstops[] = SERVO_ENDSTOPS;
+ int servo_endstop_angles[] = SERVO_ENDSTOP_ANGLES;
+#endif
#ifdef BARICUDA
int ValvePressure=0;
int EtoPPressure=0;
diff --git a/Marlin/Servo.cpp b/Marlin/Servo.cpp
index 1b42ce0b04..47c16aa719 100644
--- a/Marlin/Servo.cpp
+++ b/Marlin/Servo.cpp
@@ -41,6 +41,8 @@
detach() - Stops an attached servos from pulsing its i/o pin.
*/
+#include "Configuration.h"
+
#ifdef NUM_SERVOS
#include <avr/interrupt.h>
#include <Arduino.h>
diff --git a/Marlin/pins.h b/Marlin/pins.h
index b632f62bed..b761b65cf6 100644
--- a/Marlin/pins.h
+++ b/Marlin/pins.h
@@ -391,7 +391,7 @@
#define SERVO2_PIN 5
#endif
- #if NUM_SERVOS > 2
+ #if NUM_SERVOS > 3
#define SERVO3_PIN 4
#endif
#endif
@@ -1846,4 +1846,4 @@
HEATER_BED_PIN, FAN_PIN, \
_E0_PINS _E1_PINS _E2_PINS \
analogInputToDigitalPin(TEMP_0_PIN), analogInputToDigitalPin(TEMP_1_PIN), analogInputToDigitalPin(TEMP_2_PIN), analogInputToDigitalPin(TEMP_BED_PIN) }
-#endif
+#endif