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全系降低探测舵机的速度

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This commit is contained in:
张开科
2025-01-10 10:56:34 +08:00
parent dda0962b98
commit d0dcac4519
6 changed files with 42 additions and 11 deletions
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3
config/CreatBot_D1000/base.cfg
View File

@@ -337,6 +337,7 @@ maximum_servo_angle: 180
minimum_pulse_width: 0.000900
maximum_pulse_width: 0.002100
initial_angle: 130
steps_decomposed: 60
# initial_pulse_width:
[servo switch_nozzle]
@@ -411,7 +412,7 @@ gcode:
[gcode_macro PROBE_SERVO_OPEN]
gcode:
SET_SERVO SERVO=probe_servo angle=15
G4 P1000
G4 P2000
[gcode_macro PROBE_SERVO_CLOSE]
gcode:

3
config/CreatBot_D1000_V0/base.cfg
View File

@@ -273,6 +273,7 @@ maximum_servo_angle: 180
minimum_pulse_width: 0.000900
maximum_pulse_width: 0.002100
initial_angle: 130
steps_decomposed: 60
# initial_pulse_width:
[servo switch_nozzle]
@@ -347,7 +348,7 @@ gcode:
[gcode_macro PROBE_SERVO_OPEN]
gcode:
SET_SERVO SERVO=probe_servo angle=15
G4 P1000
G4 P2000
[gcode_macro PROBE_SERVO_CLOSE]
gcode:

3
config/CreatBot_D600Pro2/base.cfg
View File

@@ -337,6 +337,7 @@ maximum_servo_angle: 180
minimum_pulse_width: 0.000900
maximum_pulse_width: 0.002100
initial_angle: 130
steps_decomposed: 60
# initial_pulse_width:
[servo switch_nozzle]
@@ -411,7 +412,7 @@ gcode:
[gcode_macro PROBE_SERVO_OPEN]
gcode:
SET_SERVO SERVO=probe_servo angle=15
G4 P1000
G4 P2000
[gcode_macro PROBE_SERVO_CLOSE]
gcode:

3
config/CreatBot_D600Pro2_V0/base.cfg
View File

@@ -273,6 +273,7 @@ maximum_servo_angle: 180
minimum_pulse_width: 0.000900
maximum_pulse_width: 0.002100
initial_angle: 130
steps_decomposed: 60
# initial_pulse_width:
[servo switch_nozzle]
@@ -347,7 +348,7 @@ gcode:
[gcode_macro PROBE_SERVO_OPEN]
gcode:
SET_SERVO SERVO=probe_servo angle=15
G4 P1000
G4 P2000
[gcode_macro PROBE_SERVO_CLOSE]
gcode:

3
config/CreatBot_F430NX/base.cfg
View File

@@ -337,6 +337,7 @@ maximum_servo_angle: 180
minimum_pulse_width: 0.000900
maximum_pulse_width: 0.002100
initial_angle: 165
steps_decomposed: 60
# initial_pulse_width:
@@ -561,7 +562,7 @@ gcode:
[gcode_macro PROBE_SERVO_OPEN]
gcode:
SET_SERVO SERVO=probe_servo angle=45
G4 P500
G4 P2000
[gcode_macro PROBE_SERVO_CLOSE]
gcode:

38
klippy/extras/servo.py
View File

@@ -16,23 +16,24 @@ class PrinterServo:
above=self.min_width,
below=SERVO_SIGNAL_PERIOD)
self.max_angle = config.getfloat('maximum_servo_angle', 180.)
self.steps_decomposed = config.getint('steps_decomposed', 0)
self.angle_to_width = (self.max_width - self.min_width) / self.max_angle
self.width_to_value = 1. / SERVO_SIGNAL_PERIOD
self.last_value = self.last_value_time = 0.
initial_pwm = 0.
self.initial_pwm = 0.
iangle = config.getfloat('initial_angle', None, minval=0., maxval=360.)
if iangle is not None:
initial_pwm = self._get_pwm_from_angle(iangle)
self.initial_pwm = self._get_pwm_from_angle(iangle)
else:
iwidth = config.getfloat('initial_pulse_width', 0.,
minval=0., maxval=self.max_width)
initial_pwm = self._get_pwm_from_pulse_width(iwidth)
self.initial_pwm = self._get_pwm_from_pulse_width(iwidth)
# Setup mcu_servo pin
ppins = self.printer.lookup_object('pins')
self.mcu_servo = ppins.setup_pin('pwm', config.get('pin'))
self.mcu_servo.setup_max_duration(0.)
self.mcu_servo.setup_cycle_time(SERVO_SIGNAL_PERIOD)
self.mcu_servo.setup_start_value(initial_pwm, 0.)
self.mcu_servo.setup_start_value(self.initial_pwm, 0.)
# Register commands
servo_name = config.get_name().split()[1]
gcode = self.printer.lookup_object('gcode')
@@ -48,6 +49,25 @@ class PrinterServo:
self.mcu_servo.set_pwm(print_time, value)
self.last_value = value
self.last_value_time = print_time
def get_s_curve_value(self, last_value, value, t):
smooth_factor = t * t * (3 - 2 * t)
return last_value + smooth_factor * (value - last_value)
def _set_low_pwm(self, print_time, value):
if value == self.last_value:
return
if self.last_value == 0:
self.last_value = self.initial_pwm
steps = self.steps_decomposed
for step in range(steps):
t = step / (steps - 1)
current_value = self.get_s_curve_value(self.last_value, value, t)
print_time = max(print_time, self.last_value_time + 0.02)
self.mcu_servo.set_pwm(print_time, current_value)
self.last_value_time = print_time
self.last_value = value
def _get_pwm_from_angle(self, angle):
angle = max(0., min(self.max_angle, angle))
width = self.min_width + angle * self.angle_to_width
@@ -61,10 +81,16 @@ class PrinterServo:
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
width = gcmd.get_float('WIDTH', None)
if width is not None:
self._set_pwm(print_time, self._get_pwm_from_pulse_width(width))
if self.steps_decomposed:
self._set_low_pwm(print_time, self._get_pwm_from_pulse_width(width))
else:
self._set_pwm(print_time, self._get_pwm_from_pulse_width(width))
else:
angle = gcmd.get_float('ANGLE')
self._set_pwm(print_time, self._get_pwm_from_angle(angle))
if self.steps_decomposed:
self._set_low_pwm(print_time, self._get_pwm_from_angle(angle))
else:
self._set_pwm(print_time, self._get_pwm_from_angle(angle))
def load_config_prefix(config):
return PrinterServo(config)