77 lines
3.0 KiB
C
77 lines
3.0 KiB
C
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/*
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servo.h
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Part of Grbl_ESP32
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copyright (c) 2018 - Bart Dring This file was modified for use on the ESP32
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CPU. Do not use this with Grbl for atMega328P
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Grbl 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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Grbl 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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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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To use this, uncomment #define USE_PEN_SERVO in config.h
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That should be the only change you need at the top level
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Everything occurs as a low priority task that syncs the servo with the
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current machine position.
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*/
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// ==== Begin: Things you are likely to change ====================
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//#define SERVO_PEN_PIN GPIO_NUM_27 // FYI...you can disable the Z stepper pins (step & dir)
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// the pulse lengths for the min and max travel .. (Note: Servo brands vary)
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// If the servo goes backward from what you want, flip the values
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// Note: this is not necessarily the servos limits (just the travel you want)
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#define SERVO_MIN_PULSE_SEC 0.001 // min pulse in seconds
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#define SERVO_MAX_PULSE_SEC 0.002 // max pulse in seconds
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// Pulse repeat rate (PWM Frequency)
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#define SERVO_PULSE_FREQ 50 // 50Hz ...This is a standard analog servo value. Digital ones can repeat faster
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// the range of the servo is constrained
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// values above or below these will be limited to the min or max
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#define SERVO_PEN_RANGE_MIN_MM 0.0 // the minimum z position in mm
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#define SERVO_PEN_RANGE_MAX_MM 5.0 // the minimum z position in mm
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// ==== End: Things you are likely to change =======================
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// Begin: Advanced settings
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#define SERVO_TIMER_NUM 1
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#define SERVO_TIMER_INT_FREQ 20 // Hz This is the task frequency
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#define SERVO_PEN_CHANNEL_NUM 5
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#define SERVO_PULSE_RES_BITS 16 // bits of resolution of PWM (16 is max)
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#define SERVO_PULSE_RES_COUNT 65535 // see above TODO...do the math here 2^SERVO_PULSE_RES_BITS
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// A way to reduce the turn on current
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#define SERVO_TURNON_DELAY SERVO_TIMER_INT_FREQ*3 // Wait this many task counts to turn on servo
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#define SERVO_TIME_PER_BIT ((1.0 / (float)SERVO_PULSE_FREQ) / ((float)SERVO_PULSE_RES_COUNT) ) // seconds
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#define SERVO_MIN_PULSE (uint16_t)(SERVO_MIN_PULSE_SEC / SERVO_TIME_PER_BIT) // in timer counts
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#define SERVO_MAX_PULSE (uint16_t)(SERVO_MAX_PULSE_SEC / SERVO_TIME_PER_BIT) // in timer counts
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#define SERVO_CAL_MIN 20.0 // Percent: the minimum allowable calibration value
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#define SERVO_CAL_MAX 180.0 // Percent: the maximum allowable calibration value
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#ifndef servo_h
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#define servo_h
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void servo_init();
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void servo_disable();
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bool validate_servo_settings(bool verbose);
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void servoSyncTask(void *pvParameters);
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void calc_pen_servo(float penZ);
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#endif
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