全系降低探测舵机速度，修复F430NX已知问题

config/CreatBot_D1000/base.cfg

@@ -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:

config/CreatBot_D1000_V0/base.cfg

@@ -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:

config/CreatBot_D600Pro2/base.cfg

@@ -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:

config/CreatBot_D600Pro2_V0/base.cfg

@@ -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:

config/CreatBot_F430NX/base.cfg

@@ -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:
 
 
@@ -477,7 +478,7 @@ gcode:
     SET_DUAL_CARRIAGE CARRIAGE=1
     SAVE_GCODE_STATE NAME=park_extruder1
     G90
-    G1 X{475 - (x_offset if x_offset >= 0 else -x_offset)} F6000
+    G1 X{475 + (x_offset if x_offset >= 0 else -x_offset)} F6000
     RESTORE_GCODE_STATE NAME=park_extruder1
 
 [gcode_macro T1]
@@ -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:
@@ -951,6 +952,21 @@ gcode:
     {% endif %}
   {% endif %}
 
+[gcode_macro _REAPPLY_OFFSET]
+gcode:
+    {% set re_extruder = printer['gcode_macro RESUME'].resume_extruder|default("extruder") %}
+    {% set svv = printer.save_variables.variables %}
+    {% set x_offset = svv.nozzle_x_offset_val|default(0)|float %}
+    {% set y_offset = svv.nozzle_y_offset_val|default(0)|float %}
+    {% set z_offset = svv.nozzle_z_offset_val|default(0)|float %}
+    {% set is_extruder = printer.toolhead.extruder == "extruder" %}
+
+    {% if printer.toolhead.extruder!= re_extruder %}
+        SET_GCODE_OFFSET Z={0 if is_extruder else z_offset} MOVE=1
+        SET_GCODE_OFFSET Y={0 if is_extruder else y_offset}
+        SET_GCODE_OFFSET X={0 if is_extruder else x_offset}
+    {% endif %}
+
 [gcode_macro RESUME]
 description: Resume the actual running print
 rename_existing: RESUME_BASE
@@ -1011,6 +1027,7 @@ gcode:
             {client.user_resume_macro|default("")}
             _CLIENT_EXTRUDE
             RESUME_BASE VELOCITY={params.VELOCITY|default(sp_move)}
+            _REAPPLY_OFFSET
             SET_GCODE_VARIABLE MACRO=RESUME VARIABLE=change_runout VALUE="None"
         {% else %}
             {% set msg = "Left" if printer.toolhead.extruder == "extruder" else "Right" %}
@@ -1069,6 +1086,7 @@ gcode:
     {% set svv = printer.save_variables.variables %}
     {% set autoshift_extruder = svv.auto_change_nozzle|default(False) %}
     {% set filament_state = printer['gcode_macro RESUME'].filament_state.runout|default(False) %}
+    {% set extruder_runout = printer['gcode_macro RESUME'].filament_state.extruder|default(False) %}
     {% set target_extruder = "extruder1" if printer.toolhead.extruder == "extruder" else "extruder" %}
     {% set idex = False %}
     {% if printer["dual_carriage"] is defined %}
@@ -1086,7 +1104,7 @@ gcode:
                 RESPOND TYPE=error MSG='{"Noting! All extruders filament has been run out."}'
             {% endif %}
         {% else %}
-            {% set msg = "Left" if printer.toolhead.extruder == "extruder" else "Right" %}
+            {% set msg = "Right" if extruder_runout else "Left" %}
             RESPOND TYPE=error MSG='{"Noting! %s extruder filament has been run out." % msg}'
         {% endif %}
     {% endif %}

klippy/extras/servo.py

@@ -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)