CreatBot/CreatBotKlipper
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增加舵机信号持续时间变量，优化零位舵机信号不持续发送

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张开科 2025-01-17 14:32:11 +08:00
parent a15d96ff28
commit 440010b9cb
6 changed files with 21 additions and 5 deletions
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1
config/CreatBot_D1000/base.cfg
View File

@ -338,6 +338,7 @@ minimum_pulse_width: 0.000900
maximum_pulse_width: 0.002100 maximum_pulse_width: 0.002100
initial_angle: 130 initial_angle: 130
steps_decomposed: 60 steps_decomposed: 60
signal_duration: 0.1
# initial_pulse_width: # initial_pulse_width:
[servo switch_nozzle] [servo switch_nozzle]

1
config/CreatBot_D1000_V0/base.cfg
View File

@ -274,6 +274,7 @@ minimum_pulse_width: 0.000900
maximum_pulse_width: 0.002100 maximum_pulse_width: 0.002100
initial_angle: 130 initial_angle: 130
steps_decomposed: 60 steps_decomposed: 60
signal_duration: 0.1
# initial_pulse_width: # initial_pulse_width:
[servo switch_nozzle] [servo switch_nozzle]

1
config/CreatBot_D600Pro2/base.cfg
View File

@ -338,6 +338,7 @@ minimum_pulse_width: 0.000900
maximum_pulse_width: 0.002100 maximum_pulse_width: 0.002100
initial_angle: 130 initial_angle: 130
steps_decomposed: 60 steps_decomposed: 60
signal_duration: 0.1
# initial_pulse_width: # initial_pulse_width:
[servo switch_nozzle] [servo switch_nozzle]

1
config/CreatBot_D600Pro2_V0/base.cfg
View File

@ -275,6 +275,7 @@ minimum_pulse_width: 0.000900
maximum_pulse_width: 0.002100 maximum_pulse_width: 0.002100
initial_angle: 130 initial_angle: 130
steps_decomposed: 60 steps_decomposed: 60
signal_duration: 0.1
# initial_pulse_width: # initial_pulse_width:
[servo switch_nozzle] [servo switch_nozzle]

1
config/CreatBot_F430NX/base.cfg
View File

@ -338,6 +338,7 @@ minimum_pulse_width: 0.000900
maximum_pulse_width: 0.002100 maximum_pulse_width: 0.002100
initial_angle: 165 initial_angle: 165
steps_decomposed: 60 steps_decomposed: 60
signal_duration: 0.1
# initial_pulse_width: # initial_pulse_width:

21
klippy/extras/servo.py
View File

@ -16,6 +16,7 @@ class PrinterServo:
above=self.min_width, above=self.min_width,
below=SERVO_SIGNAL_PERIOD) below=SERVO_SIGNAL_PERIOD)
self.max_angle = config.getfloat('maximum_servo_angle', 180.) self.max_angle = config.getfloat('maximum_servo_angle', 180.)
self.signal_duration = config.getfloat('signal_duration', 0, minval=0.)
self.steps_decomposed = config.getint('steps_decomposed', 0) self.steps_decomposed = config.getint('steps_decomposed', 0)
self.angle_to_width = (self.max_width - self.min_width) / self.max_angle self.angle_to_width = (self.max_width - self.min_width) / self.max_angle
self.width_to_value = 1. / SERVO_SIGNAL_PERIOD self.width_to_value = 1. / SERVO_SIGNAL_PERIOD
@ -34,6 +35,8 @@ class PrinterServo:
self.mcu_servo.setup_max_duration(0.) self.mcu_servo.setup_max_duration(0.)
self.mcu_servo.setup_cycle_time(SERVO_SIGNAL_PERIOD) self.mcu_servo.setup_cycle_time(SERVO_SIGNAL_PERIOD)
self.mcu_servo.setup_start_value(self.initial_pwm, 0.) self.mcu_servo.setup_start_value(self.initial_pwm, 0.)
# Register event handler
self.printer.register_event_handler("klippy:ready", self._handle_ready)
# Register commands # Register commands
servo_name = config.get_name().split()[1] servo_name = config.get_name().split()[1]
gcode = self.printer.lookup_object('gcode') gcode = self.printer.lookup_object('gcode')
@ -49,11 +52,10 @@ class PrinterServo:
self.mcu_servo.set_pwm(print_time, value) self.mcu_servo.set_pwm(print_time, value)
self.last_value = value self.last_value = value
self.last_value_time = print_time self.last_value_time = print_time
self._handle_signal_duration(print_time)
def get_s_curve_value(self, last_value, value, t): def _get_s_curve_value(self, last_value, value, t):
smooth_factor = t * t * (3 - 2 * t) smooth_factor = t * t * (3 - 2 * t)
return last_value + smooth_factor * (value - last_value) return last_value + smooth_factor * (value - last_value)
def _set_low_pwm(self, print_time, value): def _set_low_pwm(self, print_time, value):
if value == self.last_value: if value == self.last_value:
return return
@ -62,12 +64,21 @@ class PrinterServo:
steps = self.steps_decomposed steps = self.steps_decomposed
for step in range(steps): for step in range(steps):
t = step / (steps - 1) t = step / (steps - 1)
current_value = self.get_s_curve_value(self.last_value, value, t) current_value = self._get_s_curve_value(self.last_value, value, t)
print_time = max(print_time, self.last_value_time + 0.02) print_time = max(print_time, self.last_value_time + 0.02)
self.mcu_servo.set_pwm(print_time, current_value) self.mcu_servo.set_pwm(print_time, current_value)
self.last_value_time = print_time self.last_value_time = print_time
self.last_value = value self.last_value = value
self._handle_signal_duration(print_time)
def _handle_signal_duration(self, print_time):
if self.signal_duration:
if abs(self.signal_duration / 0.02 - round(self.signal_duration / 0.02)) < 1e-9:
self.signal_duration -= 0.001
print_time = max(print_time, print_time + self.signal_duration)
self.mcu_servo.set_pwm(print_time, 0)
def _handle_ready(self):
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
self._handle_signal_duration(print_time)
def _get_pwm_from_angle(self, angle): def _get_pwm_from_angle(self, angle):
angle = max(0., min(self.max_angle, angle)) angle = max(0., min(self.max_angle, angle))
width = self.min_width + angle * self.angle_to_width width = self.min_width + angle * self.angle_to_width