From d7d9092a920b3bd2bede4b570c66ddaa52df3f19 Mon Sep 17 00:00:00 2001
From: Dmitry Butyugin <dmbutyugin@google.com>
Date: Tue, 30 Jul 2024 20:51:28 +0200
Subject: [PATCH] servo: Asynchronous adjustments of servo position
This change follows the same approach as implemented for fan control.
The change removes the move queue flushing when changing servo position,
which does not appear to be necessary. This can be beneficial, for
example, for WS7040-based cooling on IDEX setups where the servo can
be used to control the air flow between the toolheads, with this change
eliminating micro-stutters of the toolhead on servo position adjustment.
Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
---
klippy/extras/servo.py | 8 +++++---
1 file changed, 5 insertions(+), 3 deletions(-)
diff --git a/klippy/extras/servo.py b/klippy/extras/servo.py
index c05c9f819..344d6a31d 100644
--- a/klippy/extras/servo.py
+++ b/klippy/extras/servo.py
@@ -58,13 +58,15 @@ class PrinterServo:
return width * self.width_to_value
cmd_SET_SERVO_help = "Set servo angle"
def cmd_SET_SERVO(self, gcmd):
- 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))
+ value = self._get_pwm_from_pulse_width(width)
else:
angle = gcmd.get_float('ANGLE')
- self._set_pwm(print_time, self._get_pwm_from_angle(angle))
+ value = self._get_pwm_from_angle(angle)
+ toolhead = self.printer.lookup_object('toolhead')
+ toolhead.register_lookahead_callback((lambda pt:
+ self._set_pwm(pt, value)))
def load_config_prefix(config):
return PrinterServo(config)