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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@ -338,6 +338,7 @@ minimum_pulse_width: 0.000900
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maximum_pulse_width: 0.002100
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maximum_pulse_width: 0.002100
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initial_angle: 130
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initial_angle: 130
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steps_decomposed: 60
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steps_decomposed: 60
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signal_duration: 0.1
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# initial_pulse_width:
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# initial_pulse_width:
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[servo switch_nozzle]
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[servo switch_nozzle]
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@ -274,6 +274,7 @@ minimum_pulse_width: 0.000900
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maximum_pulse_width: 0.002100
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maximum_pulse_width: 0.002100
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initial_angle: 130
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initial_angle: 130
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steps_decomposed: 60
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steps_decomposed: 60
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signal_duration: 0.1
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# initial_pulse_width:
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# initial_pulse_width:
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[servo switch_nozzle]
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[servo switch_nozzle]
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@ -338,6 +338,7 @@ minimum_pulse_width: 0.000900
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maximum_pulse_width: 0.002100
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maximum_pulse_width: 0.002100
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initial_angle: 130
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initial_angle: 130
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steps_decomposed: 60
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steps_decomposed: 60
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signal_duration: 0.1
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# initial_pulse_width:
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# initial_pulse_width:
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[servo switch_nozzle]
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[servo switch_nozzle]
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@ -275,6 +275,7 @@ minimum_pulse_width: 0.000900
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maximum_pulse_width: 0.002100
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maximum_pulse_width: 0.002100
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initial_angle: 130
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initial_angle: 130
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steps_decomposed: 60
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steps_decomposed: 60
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signal_duration: 0.1
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# initial_pulse_width:
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# initial_pulse_width:
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[servo switch_nozzle]
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[servo switch_nozzle]
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@ -338,6 +338,7 @@ minimum_pulse_width: 0.000900
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maximum_pulse_width: 0.002100
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maximum_pulse_width: 0.002100
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initial_angle: 165
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initial_angle: 165
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steps_decomposed: 60
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steps_decomposed: 60
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signal_duration: 0.1
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# initial_pulse_width:
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# initial_pulse_width:
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@ -16,6 +16,7 @@ class PrinterServo:
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above=self.min_width,
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above=self.min_width,
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below=SERVO_SIGNAL_PERIOD)
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below=SERVO_SIGNAL_PERIOD)
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self.max_angle = config.getfloat('maximum_servo_angle', 180.)
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self.max_angle = config.getfloat('maximum_servo_angle', 180.)
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self.signal_duration = config.getfloat('signal_duration', 0, minval=0.)
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self.steps_decomposed = config.getint('steps_decomposed', 0)
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self.steps_decomposed = config.getint('steps_decomposed', 0)
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self.angle_to_width = (self.max_width - self.min_width) / self.max_angle
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self.angle_to_width = (self.max_width - self.min_width) / self.max_angle
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self.width_to_value = 1. / SERVO_SIGNAL_PERIOD
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self.width_to_value = 1. / SERVO_SIGNAL_PERIOD
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@ -34,6 +35,8 @@ class PrinterServo:
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self.mcu_servo.setup_max_duration(0.)
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self.mcu_servo.setup_max_duration(0.)
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self.mcu_servo.setup_cycle_time(SERVO_SIGNAL_PERIOD)
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self.mcu_servo.setup_cycle_time(SERVO_SIGNAL_PERIOD)
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self.mcu_servo.setup_start_value(self.initial_pwm, 0.)
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self.mcu_servo.setup_start_value(self.initial_pwm, 0.)
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# Register event handler
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self.printer.register_event_handler("klippy:ready", self._handle_ready)
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# Register commands
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# Register commands
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servo_name = config.get_name().split()[1]
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servo_name = config.get_name().split()[1]
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gcode = self.printer.lookup_object('gcode')
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gcode = self.printer.lookup_object('gcode')
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@ -49,11 +52,10 @@ class PrinterServo:
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self.mcu_servo.set_pwm(print_time, value)
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self.mcu_servo.set_pwm(print_time, value)
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self.last_value = value
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self.last_value = value
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self.last_value_time = print_time
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self.last_value_time = print_time
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self._handle_signal_duration(print_time)
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def get_s_curve_value(self, last_value, value, t):
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def _get_s_curve_value(self, last_value, value, t):
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smooth_factor = t * t * (3 - 2 * t)
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smooth_factor = t * t * (3 - 2 * t)
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return last_value + smooth_factor * (value - last_value)
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return last_value + smooth_factor * (value - last_value)
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def _set_low_pwm(self, print_time, value):
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def _set_low_pwm(self, print_time, value):
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if value == self.last_value:
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if value == self.last_value:
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return
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return
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@ -62,12 +64,21 @@ class PrinterServo:
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steps = self.steps_decomposed
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steps = self.steps_decomposed
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for step in range(steps):
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for step in range(steps):
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t = step / (steps - 1)
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t = step / (steps - 1)
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current_value = self.get_s_curve_value(self.last_value, value, t)
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current_value = self._get_s_curve_value(self.last_value, value, t)
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print_time = max(print_time, self.last_value_time + 0.02)
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print_time = max(print_time, self.last_value_time + 0.02)
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self.mcu_servo.set_pwm(print_time, current_value)
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self.mcu_servo.set_pwm(print_time, current_value)
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self.last_value_time = print_time
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self.last_value_time = print_time
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self.last_value = value
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self.last_value = value
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self._handle_signal_duration(print_time)
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def _handle_signal_duration(self, print_time):
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if self.signal_duration:
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if abs(self.signal_duration / 0.02 - round(self.signal_duration / 0.02)) < 1e-9:
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self.signal_duration -= 0.001
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print_time = max(print_time, print_time + self.signal_duration)
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self.mcu_servo.set_pwm(print_time, 0)
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def _handle_ready(self):
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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self._handle_signal_duration(print_time)
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def _get_pwm_from_angle(self, angle):
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def _get_pwm_from_angle(self, angle):
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angle = max(0., min(self.max_angle, angle))
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angle = max(0., min(self.max_angle, angle))
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width = self.min_width + angle * self.angle_to_width
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width = self.min_width + angle * self.angle_to_width
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