70 lines
2.2 KiB
C++
70 lines
2.2 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#ifdef ARDUINO_ARCH_ESP32
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#include "../../inc/MarlinConfig.h"
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#if HAS_SERVOS
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#include "Servo.h"
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// Adjacent channels (0/1, 2/3 etc.) share the same timer and therefore the same frequency and resolution settings on ESP32,
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// so we only allocate servo channels up high to avoid side effects with regards to analogWrite (fans, leds, laser pwm etc.)
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int Servo::channel_next_free = 12;
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Servo::Servo() {
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channel = channel_next_free++;
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}
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int8_t Servo::attach(const int inPin) {
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if (channel >= CHANNEL_MAX_NUM) return -1;
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if (inPin > 0) pin = inPin;
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ledcSetup(channel, 50, 16); // channel X, 50 Hz, 16-bit depth
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ledcAttachPin(pin, channel);
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return true;
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}
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void Servo::detach() { ledcDetachPin(pin); }
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int Servo::read() { return degrees; }
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void Servo::write(int inDegrees) {
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degrees = constrain(inDegrees, MIN_ANGLE, MAX_ANGLE);
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int us = map(degrees, MIN_ANGLE, MAX_ANGLE, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
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int duty = map(us, 0, TAU_USEC, 0, MAX_COMPARE);
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ledcWrite(channel, duty);
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}
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void Servo::move(const int value) {
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constexpr uint16_t servo_delay[] = SERVO_DELAY;
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static_assert(COUNT(servo_delay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");
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if (attach(0) >= 0) {
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write(value);
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safe_delay(servo_delay[channel]);
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TERN_(DEACTIVATE_SERVOS_AFTER_MOVE, detach());
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}
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}
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#endif // HAS_SERVOS
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#endif // ARDUINO_ARCH_ESP32
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