Merge pull request MarlinFirmware#7504 from thinkyhead/bf1_servo_delays

Individual servo delays
alex-gh · Aug 16, 2017 · 385f1bb · 385f1bb
2 parents 2a31c9f + e9c7297
commit 385f1bb
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Showing 38 changed files with 46 additions and 43 deletions.
diff --git a/.travis.yml b/.travis.yml
@@ -114,6 +114,7 @@ script:
   #
   - restore_configs
   - opt_enable NUM_SERVOS Z_ENDSTOP_SERVO_NR Z_SERVO_ANGLES DEACTIVATE_SERVOS_AFTER_MOVE
+  - opt_set NUM_SERVOS 1
   - opt_enable AUTO_BED_LEVELING_3POINT DEBUG_LEVELING_FEATURE EEPROM_SETTINGS EEPROM_CHITCHAT
   - opt_enable_adv EXTENDED_CAPABILITIES_REPORT AUTO_REPORT_TEMPERATURES AUTOTEMP G38_PROBE_TARGET
   - build_marlin

diff --git a/Marlin/Conditionals_LCD.h b/Marlin/Conditionals_LCD.h
@@ -377,7 +377,7 @@
     #endif
     #undef DEACTIVATE_SERVOS_AFTER_MOVE
     #undef SERVO_DELAY
-    #define SERVO_DELAY 50
+    #define SERVO_DELAY { 50 }
     #ifndef BLTOUCH_DELAY
       #define BLTOUCH_DELAY 375
     #endif

diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
@@ -1596,7 +1596,7 @@
 // Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
-#define SERVO_DELAY 300
+#define SERVO_DELAY { 300 }
 
 // Servo deactivation
 //

diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
@@ -2101,7 +2101,7 @@ static void clean_up_after_endstop_or_probe_move() {
   #if ENABLED(BLTOUCH)
 
     void bltouch_command(int angle) {
-      servo[Z_ENDSTOP_SERVO_NR].move(angle);  // Give the BL-Touch the command and wait
+      MOVE_SERVO(Z_ENDSTOP_SERVO_NR, angle);  // Give the BL-Touch the command and wait
       safe_delay(BLTOUCH_DELAY);
     }
 
@@ -2192,7 +2192,7 @@ static void clean_up_after_endstop_or_probe_move() {
 
         #elif HAS_Z_SERVO_ENDSTOP && DISABLED(BLTOUCH)
 
-          servo[Z_ENDSTOP_SERVO_NR].move(z_servo_angle[deploy ? 0 : 1]);
+          MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[deploy ? 0 : 1]);
 
         #elif ENABLED(Z_PROBE_ALLEN_KEY)
 
@@ -6702,7 +6702,7 @@ inline void gcode_M42() {
       SERIAL_ERROR_START();
       SERIAL_ERRORLNPGM("Z_ENDSTOP_SERVO_NR not setup");
 
-    #else
+    #else // HAS_Z_SERVO_ENDSTOP
 
       const uint8_t probe_index = parser.byteval('P', Z_ENDSTOP_SERVO_NR);
 
@@ -6750,10 +6750,10 @@ inline void gcode_M42() {
       SET_INPUT_PULLUP(PROBE_TEST_PIN);
       bool deploy_state, stow_state;
       for (uint8_t i = 0; i < 4; i++) {
-        servo[probe_index].move(z_servo_angle[0]); //deploy
+        MOVE_SERVO(probe_index, z_servo_angle[0]); //deploy
         safe_delay(500);
         deploy_state = READ(PROBE_TEST_PIN);
-        servo[probe_index].move(z_servo_angle[1]); //stow
+        MOVE_SERVO(probe_index, z_servo_angle[1]); //stow
         safe_delay(500);
         stow_state = READ(PROBE_TEST_PIN);
       }
@@ -6777,7 +6777,7 @@ inline void gcode_M42() {
 
       }
       else {                                           // measure active signal length
-        servo[probe_index].move(z_servo_angle[0]);     // deploy
+        MOVE_SERVO(probe_index, z_servo_angle[0]);     // deploy
         safe_delay(500);
         SERIAL_PROTOCOLLNPGM("please trigger probe");
         uint16_t probe_counter = 0;
@@ -6802,7 +6802,7 @@ inline void gcode_M42() {
             else
               SERIAL_PROTOCOLLNPGM("noise detected - please re-run test"); // less than 2mS pulse
 
-            servo[probe_index].move(z_servo_angle[1]); //stow
+            MOVE_SERVO(probe_index, z_servo_angle[1]); //stow
 
           }  // pulse detected
 

diff --git a/Marlin/example_configurations/AlephObjects/TAZ4/Configuration.h b/Marlin/example_configurations/AlephObjects/TAZ4/Configuration.h
@@ -1616,7 +1616,7 @@
 // Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
-#define SERVO_DELAY 300
+#define SERVO_DELAY { 300 }
 
 // Servo deactivation
 //

diff --git a/Marlin/example_configurations/AliExpress/CL-260/Configuration.h b/Marlin/example_configurations/AliExpress/CL-260/Configuration.h
@@ -1596,7 +1596,7 @@
 // Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
-#define SERVO_DELAY 300
+#define SERVO_DELAY { 300 }
 
 // Servo deactivation
 //

diff --git a/Marlin/example_configurations/Anet/A6/Configuration.h b/Marlin/example_configurations/Anet/A6/Configuration.h
@@ -1755,7 +1755,7 @@
 // Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
-#define SERVO_DELAY 300
+#define SERVO_DELAY { 300 }
 
 // Servo deactivation
 //

diff --git a/Marlin/example_configurations/Anet/A8/Configuration.h b/Marlin/example_configurations/Anet/A8/Configuration.h
@@ -1604,7 +1604,7 @@
 // Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
-#define SERVO_DELAY 300
+#define SERVO_DELAY { 300 }
 
 // Servo deactivation
 //

diff --git a/Marlin/example_configurations/BQ/Hephestos/Configuration.h b/Marlin/example_configurations/BQ/Hephestos/Configuration.h
@@ -1587,7 +1587,7 @@
 // Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
-#define SERVO_DELAY 300
+#define SERVO_DELAY { 300 }
 
 // Servo deactivation
 //

diff --git a/Marlin/example_configurations/BQ/Hephestos_2/Configuration.h b/Marlin/example_configurations/BQ/Hephestos_2/Configuration.h
@@ -1597,7 +1597,7 @@
 // Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
-#define SERVO_DELAY 300
+#define SERVO_DELAY { 300 }
 
 // Servo deactivation
 //

diff --git a/Marlin/example_configurations/BQ/WITBOX/Configuration.h b/Marlin/example_configurations/BQ/WITBOX/Configuration.h
@@ -1587,7 +1587,7 @@
 // Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
-#define SERVO_DELAY 300
+#define SERVO_DELAY { 300 }
 
 // Servo deactivation
 //

diff --git a/Marlin/example_configurations/Cartesio/Configuration.h b/Marlin/example_configurations/Cartesio/Configuration.h
@@ -1595,7 +1595,7 @@
 // Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
-#define SERVO_DELAY 300
+#define SERVO_DELAY { 300 }
 
 // Servo deactivation
 //

diff --git a/Marlin/example_configurations/Creality/CR-10/Configuration.h b/Marlin/example_configurations/Creality/CR-10/Configuration.h
@@ -1608,7 +1608,7 @@
 // Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
-#define SERVO_DELAY 300
+#define SERVO_DELAY { 300 }
 
 // Servo deactivation
 //

diff --git a/Marlin/example_configurations/Felix/Configuration.h b/Marlin/example_configurations/Felix/Configuration.h
@@ -1578,7 +1578,7 @@
 // Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
-#define SERVO_DELAY 300
+#define SERVO_DELAY { 300 }
 
 // Servo deactivation
 //

diff --git a/Marlin/example_configurations/Felix/DUAL/Configuration.h b/Marlin/example_configurations/Felix/DUAL/Configuration.h
@@ -1578,7 +1578,7 @@
 // Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
-#define SERVO_DELAY 300
+#define SERVO_DELAY { 300 }
 
 // Servo deactivation
 //

diff --git a/Marlin/example_configurations/Geeetech/GT2560/Configuration.h b/Marlin/example_configurations/Geeetech/GT2560/Configuration.h
@@ -1611,7 +1611,7 @@
 // Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
-#define SERVO_DELAY 300
+#define SERVO_DELAY { 300 }
 
 // Servo deactivation
 //

diff --git a/Marlin/example_configurations/Geeetech/I3_Pro_X-GT2560/Configuration.h b/Marlin/example_configurations/Geeetech/I3_Pro_X-GT2560/Configuration.h
@@ -1596,7 +1596,7 @@
 // Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
-#define SERVO_DELAY 300
+#define SERVO_DELAY { 300 }
 
 // Servo deactivation
 //

diff --git a/Marlin/example_configurations/Infitary/i3-M508/Configuration.h b/Marlin/example_configurations/Infitary/i3-M508/Configuration.h
@@ -1600,7 +1600,7 @@
 // Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
-#define SERVO_DELAY 300
+#define SERVO_DELAY { 300 }
 
 // Servo deactivation
 //

diff --git a/Marlin/example_configurations/Malyan/M150/Configuration.h b/Marlin/example_configurations/Malyan/M150/Configuration.h
@@ -1624,7 +1624,7 @@
 // Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
-#define SERVO_DELAY 300
+#define SERVO_DELAY { 300 }
 
 // Servo deactivation
 //

diff --git a/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h b/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
@@ -1596,7 +1596,7 @@
 // Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
-#define SERVO_DELAY 300
+#define SERVO_DELAY { 300 }
 
 // Servo deactivation
 //

diff --git a/Marlin/example_configurations/RigidBot/Configuration.h b/Marlin/example_configurations/RigidBot/Configuration.h
@@ -1596,7 +1596,7 @@
 // Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
-#define SERVO_DELAY 300
+#define SERVO_DELAY { 300 }
 
 // Servo deactivation
 //

diff --git a/Marlin/example_configurations/SCARA/Configuration.h b/Marlin/example_configurations/SCARA/Configuration.h
@@ -1608,7 +1608,7 @@
 // Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
-#define SERVO_DELAY 300
+#define SERVO_DELAY { 300 }
 
 // Servo deactivation
 //

diff --git a/Marlin/example_configurations/TinyBoy2/Configuration.h b/Marlin/example_configurations/TinyBoy2/Configuration.h
@@ -1652,7 +1652,7 @@
 // Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
-#define SERVO_DELAY 300
+#define SERVO_DELAY { 300 }
 
 // Servo deactivation
 //

diff --git a/Marlin/example_configurations/Velleman/K8200/Configuration.h b/Marlin/example_configurations/Velleman/K8200/Configuration.h
@@ -1630,7 +1630,7 @@
 // Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
-#define SERVO_DELAY 300
+#define SERVO_DELAY { 300 }
 
 // Servo deactivation
 //

diff --git a/Marlin/example_configurations/Velleman/K8400/Configuration.h b/Marlin/example_configurations/Velleman/K8400/Configuration.h
@@ -1596,7 +1596,7 @@
 // Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
-#define SERVO_DELAY 300
+#define SERVO_DELAY { 300 }
 
 // Servo deactivation
 //

diff --git a/Marlin/example_configurations/Velleman/K8400/Dual-head/Configuration.h b/Marlin/example_configurations/Velleman/K8400/Dual-head/Configuration.h
@@ -1596,7 +1596,7 @@
 // Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
-#define SERVO_DELAY 300
+#define SERVO_DELAY { 300 }
 
 // Servo deactivation
 //

diff --git a/Marlin/example_configurations/adafruit/ST7565/Configuration.h b/Marlin/example_configurations/adafruit/ST7565/Configuration.h
@@ -1596,7 +1596,7 @@
 // Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
-#define SERVO_DELAY 300
+#define SERVO_DELAY { 300 }
 
 // Servo deactivation
 //

diff --git a/Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h b/Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h
@@ -1724,7 +1724,7 @@
 // Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
-#define SERVO_DELAY 300
+#define SERVO_DELAY { 300 }
 
 // Servo deactivation
 //

diff --git a/Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h b/Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h
@@ -1717,7 +1717,7 @@
 // Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
-#define SERVO_DELAY 300
+#define SERVO_DELAY { 300 }
 
 // Servo deactivation
 //

diff --git a/Marlin/example_configurations/delta/generic/Configuration.h b/Marlin/example_configurations/delta/generic/Configuration.h
@@ -1712,7 +1712,7 @@
 // Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
-#define SERVO_DELAY 300
+#define SERVO_DELAY { 300 }
 
 // Servo deactivation
 //

diff --git a/Marlin/example_configurations/delta/kossel_mini/Configuration.h b/Marlin/example_configurations/delta/kossel_mini/Configuration.h
@@ -1715,7 +1715,7 @@
 // Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
-#define SERVO_DELAY 300
+#define SERVO_DELAY { 300 }
 
 // Servo deactivation
 //

diff --git a/Marlin/example_configurations/delta/kossel_pro/Configuration.h b/Marlin/example_configurations/delta/kossel_pro/Configuration.h
@@ -1715,7 +1715,7 @@
 // Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
-#define SERVO_DELAY 300
+#define SERVO_DELAY { 300 }
 
 // Servo deactivation
 //

diff --git a/Marlin/example_configurations/delta/kossel_xl/Configuration.h b/Marlin/example_configurations/delta/kossel_xl/Configuration.h
@@ -1724,7 +1724,7 @@
 // Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
-#define SERVO_DELAY 300
+#define SERVO_DELAY { 300 }
 
 // Servo deactivation
 //

diff --git a/Marlin/example_configurations/gCreate/gMax1.5+/Configuration.h b/Marlin/example_configurations/gCreate/gMax1.5+/Configuration.h
@@ -1610,7 +1610,7 @@
 // Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
-#define SERVO_DELAY 300
+#define SERVO_DELAY { 300 }
 
 // Servo deactivation
 //

diff --git a/Marlin/example_configurations/makibox/Configuration.h b/Marlin/example_configurations/makibox/Configuration.h
@@ -1599,7 +1599,7 @@
 // Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
-#define SERVO_DELAY 300
+#define SERVO_DELAY { 300 }
 
 // Servo deactivation
 //

diff --git a/Marlin/example_configurations/tvrrug/Round2/Configuration.h b/Marlin/example_configurations/tvrrug/Round2/Configuration.h
@@ -1591,7 +1591,7 @@
 // Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
-#define SERVO_DELAY 300
+#define SERVO_DELAY { 300 }
 
 // Servo deactivation
 //

diff --git a/Marlin/example_configurations/wt150/Configuration.h b/Marlin/example_configurations/wt150/Configuration.h
@@ -1601,7 +1601,7 @@
 // Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
 // If the servo can't reach the requested position, increase it.
-#define SERVO_DELAY 300
+#define SERVO_DELAY { 300 }
 
 // Servo deactivation
 //

diff --git a/Marlin/servo.cpp b/Marlin/servo.cpp
@@ -308,9 +308,11 @@ int Servo::readMicroseconds() {
 bool Servo::attached() { return servo_info[this->servoIndex].Pin.isActive; }
 
 void Servo::move(int value) {
+  constexpr uint16_t servo_delay[] = SERVO_DELAY;
+  static_assert(COUNT(servo_delay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");
   if (this->attach(0) >= 0) {
     this->write(value);
-    delay(SERVO_DELAY);
+    delay(servo_delay[this->servoIndex]);
     #if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
       this->detach();
     #endif