diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 85865226a3235907456dd6db9b9b8585b254518a..3bb02ba755de5341c85f9424dc5eb0d178ddc1b5 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -504,13 +504,6 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
//#define Z_PROBE_SLED // turn on if you have a z-probe mounted on a sled like those designed by Charles Bell
//#define SLED_DOCKING_OFFSET 5 // the extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like.
- //If defined, the Probe servo will be turned on only during movement and then turned off to avoid jerk
- //The value is the delay to turn the servo off after powered on - depends on the servo speed; 300ms is good value, but you can try lower it.
- // You MUST HAVE the SERVO_ENDSTOPS defined to use here a value higher than zero otherwise your code will not compile.
-
-// #define PROBE_SERVO_DEACTIVATION_DELAY 300
-
-
//If you have enabled the Bed Auto Leveling and are using the same Z Probe for Z Homing,
//it is highly recommended you let this Z_SAFE_HOMING enabled!!!
@@ -774,6 +767,17 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
//
//#define NUM_SERVOS 3 // Servo index starts with 0 for M280 command
+// If DEACTIVATE_SERVOS_AFTER_MOVE is defined, the servos will be turned on only during movement and then turned off to avoid jitter
+// SERVO_DEACTIVATION_DELAY is the delay to turn the servo off after powered on - depends on the servo speed; 300ms is good value, but you can try lower it.
+// If your servo does not reach the requested position, enlarge the time.
+// You MUST HAVE the SERVO_ENDSTOPS defined to use here a value higher than zero otherwise your code will not compile.
+//
+//#define DEACTIVATE_SERVOS_AFTER_MOVE
+
+#ifdef DEACTIVATE_SERVOS_AFTER_MOVE
+ #define SERVO_DEACTIVATION_DELAY 300
+#endif
+
// Servo Endstops
//
// This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 8fdefc4a35b83a5168340bf6385485ae404429d0..b1b2b3483d389fe034b938bf16761ec725e9f136 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -36,7 +36,7 @@
#endif
#endif // ENABLE_AUTO_BED_LEVELING
-#define SERVO_LEVELING (defined(ENABLE_AUTO_BED_LEVELING) && PROBE_SERVO_DEACTIVATION_DELAY > 0)
+#define SERVO_LEVELING (defined(ENABLE_AUTO_BED_LEVELING) && defined(DEACTIVATE_SERVOS_AFTER_MOVE))
#ifdef MESH_BED_LEVELING
#include "mesh_bed_leveling.h"
@@ -570,13 +570,9 @@ void servo_init() {
#ifdef SERVO_ENDSTOPS
for (int i = 0; i < 3; i++)
if (servo_endstops[i] >= 0)
- servo[servo_endstops[i]].write(servo_endstop_angles[i * 2 + 1]);
+ servo[servo_endstops[i]].move(0, servo_endstop_angles[i * 2 + 1]);
#endif
- #if SERVO_LEVELING
- delay(PROBE_SERVO_DEACTIVATION_DELAY);
- servo[servo_endstops[Z_AXIS]].detach();
- #endif
}
/**
@@ -1315,14 +1311,7 @@ static void setup_for_endstop_move() {
// Engage Z Servo endstop if enabled
if (servo_endstops[Z_AXIS] >= 0) {
Servo *srv = &servo[servo_endstops[Z_AXIS]];
- #if SERVO_LEVELING
- srv->attach(0);
- #endif
- srv->write(servo_endstop_angles[Z_AXIS * 2]);
- #if SERVO_LEVELING
- delay(PROBE_SERVO_DEACTIVATION_DELAY);
- srv->detach();
- #endif
+ srv->move(0, servo_endstop_angles[Z_AXIS * 2]);
}
#elif defined(Z_PROBE_ALLEN_KEY)
@@ -1424,14 +1413,7 @@ static void setup_for_endstop_move() {
// Change the Z servo angle
Servo *srv = &servo[servo_endstops[Z_AXIS]];
- #if SERVO_LEVELING
- srv->attach(0);
- #endif
- srv->write(servo_endstop_angles[Z_AXIS * 2 + 1]);
- #if SERVO_LEVELING
- delay(PROBE_SERVO_DEACTIVATION_DELAY);
- srv->detach();
- #endif
+ srv->move(0, servo_endstop_angles[Z_AXIS * 2 + 1]);
}
#elif defined(Z_PROBE_ALLEN_KEY)
@@ -1683,7 +1665,7 @@ static void homeaxis(AxisEnum axis) {
if (axis != Z_AXIS) {
// Engage Servo endstop if enabled
if (servo_endstops[axis] > -1)
- servo[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]);
+ servo[servo_endstops[axis]].move(0, servo_endstop_angles[axis * 2]);
}
#endif
@@ -1786,7 +1768,7 @@ static void homeaxis(AxisEnum axis) {
{
// Retract Servo endstop if enabled
if (servo_endstops[axis] > -1)
- servo[servo_endstops[axis]].write(servo_endstop_angles[axis * 2 + 1]);
+ servo[servo_endstops[axis]].move(0, servo_endstop_angles[axis * 2 + 1]);
}
#endif
@@ -4354,14 +4336,7 @@ inline void gcode_M226() {
servo_position = code_value_short();
if (servo_index >= 0 && servo_index < NUM_SERVOS) {
Servo *srv = &servo[servo_index];
- #if SERVO_LEVELING
- srv->attach(0);
- #endif
- srv->write(servo_position);
- #if SERVO_LEVELING
- delay(PROBE_SERVO_DEACTIVATION_DELAY);
- srv->detach();
- #endif
+ srv->move(0, servo_position);
}
else {
SERIAL_ECHO_START;
diff --git a/Marlin/servo.cpp b/Marlin/servo.cpp
index 32e5d8493751dadb611dd5525e5a8109d4562dbf..6e3f398ce101134ab141d9d6a85716478314455c 100644
--- a/Marlin/servo.cpp
+++ b/Marlin/servo.cpp
@@ -35,12 +35,14 @@
write() - Sets the servo angle in degrees. (invalid angle that is valid as pulse in microseconds is treated as microseconds)
writeMicroseconds() - Sets the servo pulse width in microseconds
+ move(pin, angel) - Sequence of attach(pin), write(angel),
+ if DEACTIVATE_SERVOS_AFTER_MOVE is defined waits SERVO_DEACTIVATION_DELAY, than detaches.
read() - Gets the last written servo pulse width as an angle between 0 and 180.
readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
attached() - Returns true if there is a servo attached.
detach() - Stops an attached servos from pulsing its i/o pin.
-*/
+ */
#include "Configuration.h"
#ifdef NUM_SERVOS
@@ -301,4 +303,17 @@ int Servo::readMicroseconds() {
bool Servo::attached() { return servos[this->servoIndex].Pin.isActive; }
+uint8_t Servo::move(int pin, int value) {
+ uint8_t ret;
+ ret = this->attach(pin);
+ if (ret) {
+ this->write(value);
+ #ifdef DEACTIVATE_SERVOS_AFTER_MOVE && (SERVO_DEACTIVATION_DELAY > 0)
+ delay(SERVO_DEACTIVATION_DELAY);
+ this->detach();
+ #endif
+ }
+ return ret;
+}
+
#endif
diff --git a/Marlin/servo.h b/Marlin/servo.h
index 4647561754898d4770f2e56743dec924702095a4..4c58991c7310165197ef12789c5174f4bd986b3f 100644
--- a/Marlin/servo.h
+++ b/Marlin/servo.h
@@ -40,6 +40,8 @@
readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
attached() - Returns true if there is a servo attached.
detach() - Stops an attached servos from pulsing its i/o pin.
+ move(pin, angel) - Sequence of attach(pin), write(angel),
+ if DEACTIVATE_SERVOS_AFTER_MOVE is defined waits SERVO_DEACTIVATION_DELAY, than detaches.
*/
#ifndef servo_h
@@ -120,6 +122,9 @@ class Servo {
void detach();
void write(int value); // if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds
void writeMicroseconds(int value); // Write pulse width in microseconds
+ uint8_t move(int pin, int value); // attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure.
+ // if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds.
+ // if DEACTIVATE_SERVOS_AFTER_MOVE is defined waits SERVO_DEACTIVATION_DELAY, than detaches.
int read(); // returns current pulse width as an angle between 0 and 180 degrees
int readMicroseconds(); // returns current pulse width in microseconds for this servo (was read_us() in first release)
bool attached(); // return true if this servo is attached, otherwise false