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Merge Servo Corrections (PR#2510)

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master
Richard Wackerbarth 10 years ago
parent b116c096bd 088e09e052
commit d233976737
22 changed files with 134 additions and 73 deletions
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16
Marlin/Conditionals.h
Unescape View File

@ -511,5 +511,21 @@
#define HAS_BUZZER ((defined(BEEPER) && BEEPER >= 0) || defined(LCD_USE_I2C_BUZZER))
#if defined( NUM_SERVOS ) && (NUM_SERVOS > 0)
#ifndef X_ENDSTOP_SERVO_NR
#define X_ENDSTOP_SERVO_NR -1
#endif
#ifndef Y_ENDSTOP_SERVO_NR
#define Y_ENDSTOP_SERVO_NR -1
#endif
#ifndef Z_ENDSTOP_SERVO_NR
#define Z_ENDSTOP_SERVO_NR -1
#endif
#if (X_ENDSTOP_SERVO_NR >= 0) || (Y_ENDSTOP_SERVO_NR >= 0) || (Z_ENDSTOP_SERVO_NR >= 0)
#define SERVO_ENDSTOPS {X_ENDSTOP_SERVO_NR, Y_ENDSTOP_SERVO_NR, Z_ENDSTOP_SERVO_NR}
#endif
#endif
#endif //CONFIGURATION_LCD
#endif //CONDITIONALS_H

6
Marlin/Configuration.h
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@ -530,7 +530,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
// If you want to still use the Z min endstop for homing, disable Z_SAFE_HOMING above. Eg; to park the head outside the bed area when homing with G28.
// WARNING: The Z MIN endstop will need to set properly as it would without a Z PROBE to prevent head crashes and premature stopping during a print.
// To use a separate Z PROBE endstop, you must have a Z_PROBE_PIN defined in the pins.h file for your control board.
// If you are using a servo based Z PROBE, you will need to enable NUM_SERVOS, SERVO_ENDSTOPS and SERVO_ENDSTOPS_ANGLES in the R/C Servo below.
// If you are using a servo based Z PROBE, you will need to enable NUM_SERVOS, Z_ENDSTOP_SERVO_NR and SERVO_ENDSTOPS_ANGLES in the R/C Servo below.
// RAMPS 1.3/1.4 boards may be able to use the 5V, Ground and the D32 pin in the Aux 4 section of the RAMPS board. Use 5V for powered sensors, otherwise connect to ground and D32
// for normally closed configuration and 5V and D32 for normally open configurations. Normally closed configuration is advised and assumed.
// The D32 pin in Aux 4 on RAMPS maps to the Arduino D32 pin. Z_PROBE_PIN is setting the pin to use on the Arduino. Since the D32 pin on the RAMPS maps to D32 on Arduino, this works.
@ -780,7 +780,9 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
// This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
// Use M851 to set the z-probe vertical offset from the nozzle. Store that setting with M500.
//
//#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
//#define X_ENDSTOP_SERVO_NR 1
//#define Y_ENDSTOP_SERVO_NR 2
//#define Z_ENDSTOP_SERVO_NR 0
//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
// Servo deactivation

28
Marlin/Marlin_main.cpp
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@ -555,22 +555,26 @@ void suicide() {
void servo_init() {
#if NUM_SERVOS >= 1 && HAS_SERVO_0
servo[0].attach(SERVO0_PIN);
servo[0].detach(); // Just set up the pin. We don't have a position yet. Don't move to a random position.
#endif
#if NUM_SERVOS >= 2 && HAS_SERVO_1
servo[1].attach(SERVO1_PIN);
servo[1].detach();
#endif
#if NUM_SERVOS >= 3 && HAS_SERVO_2
servo[2].attach(SERVO2_PIN);
servo[2].detach();
#endif
#if NUM_SERVOS >= 4 && HAS_SERVO_3
servo[3].attach(SERVO3_PIN);
servo[3].detach();
#endif
// Set position of Servo Endstops that are defined
#ifdef SERVO_ENDSTOPS
for (int i = 0; i < 3; i++)
if (servo_endstops[i] >= 0)
servo[servo_endstops[i]].move(0, servo_endstop_angles[i * 2 + 1]);
servo[servo_endstops[i]].move(servo_endstop_angles[i * 2 + 1]);
#endif
}
@ -1310,10 +1314,7 @@ static void setup_for_endstop_move() {
#ifdef SERVO_ENDSTOPS
// Engage Z Servo endstop if enabled
if (servo_endstops[Z_AXIS] >= 0) {
Servo *srv = &servo[servo_endstops[Z_AXIS]];
srv->move(0, servo_endstop_angles[Z_AXIS * 2]);
}
if (servo_endstops[Z_AXIS] >= 0) servo[servo_endstops[Z_AXIS]].move(servo_endstop_angles[Z_AXIS * 2]);
#elif defined(Z_PROBE_ALLEN_KEY)
feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE;
@ -1413,8 +1414,7 @@ static void setup_for_endstop_move() {
#endif
// Change the Z servo angle
Servo *srv = &servo[servo_endstops[Z_AXIS]];
srv->move(0, servo_endstop_angles[Z_AXIS * 2 + 1]);
servo[servo_endstops[Z_AXIS]].move(servo_endstop_angles[Z_AXIS * 2 + 1]);
}
#elif defined(Z_PROBE_ALLEN_KEY)
@ -1665,8 +1665,8 @@ static void homeaxis(AxisEnum axis) {
#ifdef SERVO_ENDSTOPS
if (axis != Z_AXIS) {
// Engage Servo endstop if enabled
if (servo_endstops[axis] > -1)
servo[servo_endstops[axis]].move(0, servo_endstop_angles[axis * 2]);
if (servo_endstops[axis] >= 0)
servo[servo_endstops[axis]].move(servo_endstop_angles[axis * 2]);
}
#endif
@ -1768,8 +1768,8 @@ static void homeaxis(AxisEnum axis) {
{
#ifdef SERVO_ENDSTOPS
// Retract Servo endstop if enabled
if (servo_endstops[axis] > -1)
servo[servo_endstops[axis]].move(0, servo_endstop_angles[axis * 2 + 1]);
if (servo_endstops[axis] >= 0)
servo[servo_endstops[axis]].move(servo_endstop_angles[axis * 2 + 1]);
#endif
}
@ -4233,10 +4233,8 @@ inline void gcode_M226() {
int servo_position = 0;
if (code_seen('S')) {
servo_position = code_value_short();
if (servo_index >= 0 && servo_index < NUM_SERVOS) {
Servo *srv = &servo[servo_index];
srv->move(0, servo_position);
}
if (servo_index >= 0 && servo_index < NUM_SERVOS)
servo[servo_index].move(servo_position);
else {
SERIAL_ECHO_START;
SERIAL_ECHO("Servo ");

17
Marlin/SanityCheck.h
Unescape View File

@ -83,12 +83,23 @@
#if NUM_SERVOS > 4
#error The maximum number of SERVOS in Marlin is 4.
#endif
#if defined(NUM_SERVOS) && NUM_SERVOS > 0
#if X_ENDSTOP_SERVO_NR >= 0 || Y_ENDSTOP_SERVO_NR >= 0 || Z_ENDSTOP_SERVO_NR >= 0
#if X_ENDSTOP_SERVO_NR >= NUM_SERVOS
#error X_ENDSTOP_SERVO_NR must be smaller than NUM_SERVOS.
#elif Y_ENDSTOP_SERVO_NR >= NUM_SERVOS
#error Y_ENDSTOP_SERVO_NR must be smaller than NUM_SERVOS.
#elif Z_ENDSTOP_SERVO_NR >= NUM_SERVOS
#error Z_ENDSTOP_SERVO_NR must be smaller than NUM_SERVOS.
#endif
#endif
#endif
/**
* Servo deactivation depends on servo endstops
*/
#if defined(DEACTIVATE_SERVOS_AFTER_MOVE) && !defined(SERVO_ENDSTOPS)
#error SERVO_ENDSTOPS is required for DEACTIVATE_SERVOS_AFTER_MOVE.
#error At least one of the ?_ENDSTOP_SERVO_NR is required for DEACTIVATE_SERVOS_AFTER_MOVE.
#endif
/**
@ -148,8 +159,8 @@
// #if defined(NUM_SERVOS) && NUM_SERVOS < 1
// #error You must have at least 1 servo defined for NUM_SERVOS to use Z_PROBE_ENDSTOP.
// #endif
// #ifndef SERVO_ENDSTOPS
// #error You must have SERVO_ENDSTOPS defined and have the Z index set to at least 0 or above to use Z_PROBE_ENDSTOP.
// #if Z_ENDSTOP_SERVO_NR < 0
// #error You must have Z_ENDSTOP_SERVO_NR set to at least 0 or above to use Z_PROBE_ENDSTOP.
// #endif
// #ifndef SERVO_ENDSTOP_ANGLES
// #error You must have SERVO_ENDSTOP_ANGLES defined for Z Extend and Retract to use Z_PROBE_ENDSTOP.

6
Marlin/configurator/config/Configuration.h
Unescape View File

@ -530,7 +530,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
// If you want to still use the Z min endstop for homing, disable Z_SAFE_HOMING above. Eg; to park the head outside the bed area when homing with G28.
// WARNING: The Z MIN endstop will need to set properly as it would without a Z PROBE to prevent head crashes and premature stopping during a print.
// To use a separate Z PROBE endstop, you must have a Z_PROBE_PIN defined in the pins.h file for your control board.
// If you are using a servo based Z PROBE, you will need to enable NUM_SERVOS, SERVO_ENDSTOPS and SERVO_ENDSTOPS_ANGLES in the R/C Servo below.
// If you are using a servo based Z PROBE, you will need to enable NUM_SERVOS, Z_ENDSTOP_SERVO_NR and SERVO_ENDSTOPS_ANGLES in the R/C Servo below.
// RAMPS 1.3/1.4 boards may be able to use the 5V, Ground and the D32 pin in the Aux 4 section of the RAMPS board. Use 5V for powered sensors, otherwise connect to ground and D32
// for normally closed configuration and 5V and D32 for normally open configurations. Normally closed configuration is advised and assumed.
// The D32 pin in Aux 4 on RAMPS maps to the Arduino D32 pin. Z_PROBE_PIN is setting the pin to use on the Arduino. Since the D32 pin on the RAMPS maps to D32 on Arduino, this works.
@ -780,7 +780,9 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
// This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
// Use M851 to set the z-probe vertical offset from the nozzle. Store that setting with M500.
//
//#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
//#define X_ENDSTOP_SERVO_NR 1
//#define Y_ENDSTOP_SERVO_NR 2
//#define Z_ENDSTOP_SERVO_NR 0
//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
// Servo deactivation

6
Marlin/example_configurations/Felix/Configuration.h
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@ -512,7 +512,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
// If you want to still use the Z min endstop for homing, disable Z_SAFE_HOMING above. Eg; to park the head outside the bed area when homing with G28.
// WARNING: The Z MIN endstop will need to set properly as it would without a Z PROBE to prevent head crashes and premature stopping during a print.
// To use a separate Z PROBE endstop, you must have a Z_PROBE_PIN defined in the pins.h file for your control board.
// If you are using a servo based Z PROBE, you will need to enable NUM_SERVOS, SERVO_ENDSTOPS and SERVO_ENDSTOPS_ANGLES in the R/C Servo below.
// If you are using a servo based Z PROBE, you will need to enable NUM_SERVOS, Z_ENDSTOP_SERVO_NR and SERVO_ENDSTOPS_ANGLES in the R/C Servo below.
// RAMPS 1.3/1.4 boards may be able to use the 5V, Ground and the D32 pin in the Aux 4 section of the RAMPS board. Use 5V for powered sensors, otherwise connect to ground and D32
// for normally closed configuration and 5V and D32 for normally open configurations. Normally closed configuration is advised and assumed.
// The D32 pin in Aux 4 on RAMPS maps to the Arduino D32 pin. Z_PROBE_PIN is setting the pin to use on the Arduino. Since the D32 pin on the RAMPS maps to D32 on Arduino, this works.
@ -763,7 +763,9 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
// This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
// Use M851 to set the z-probe vertical offset from the nozzle. Store that setting with M500.
//
//#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
//#define X_ENDSTOP_SERVO_NR 1
//#define Y_ENDSTOP_SERVO_NR 2
//#define Z_ENDSTOP_SERVO_NR 0
//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
// Servo deactivation

21
Marlin/example_configurations/Felix/Configuration_DUAL.h
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@ -449,9 +449,6 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
//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,
@ -476,7 +473,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
// If you want to still use the Z min endstop for homing, disable Z_SAFE_HOMING above. Eg; to park the head outside the bed area when homing with G28.
// WARNING: The Z MIN endstop will need to set properly as it would without a Z PROBE to prevent head crashes and premature stopping during a print.
// To use a separate Z PROBE endstop, you must have a Z_PROBE_PIN defined in the pins.h file for your control board.
// If you are using a servo based Z PROBE, you will need to enable NUM_SERVOS, SERVO_ENDSTOPS and SERVO_ENDSTOPS_ANGLES in the R/C Servo below.
// If you are using a servo based Z PROBE, you will need to enable NUM_SERVOS, Z_ENDSTOP_SERVO_NR and SERVO_ENDSTOPS_ANGLES in the R/C Servo below.
// RAMPS 1.3/1.4 boards may be able to use the 5V, Ground and the D32 pin in the Aux 4 section of the RAMPS board. Use 5V for powered sensors, otherwise connect to ground and D32
// for normally closed configuration and 5V and D32 for normally open configurations. Normally closed configuration is advised and assumed.
// The D32 pin in Aux 4 on RAMPS maps to the Arduino D32 pin. Z_PROBE_PIN is setting the pin to use on the Arduino. Since the D32 pin on the RAMPS maps to D32 on Arduino, this works.
@ -718,9 +715,23 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
// This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
// Use M851 to set the z-probe vertical offset from the nozzle. Store that setting with M500.
//
//#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
//#define X_ENDSTOP_SERVO_NR 1
//#define Y_ENDSTOP_SERVO_NR 2
//#define Z_ENDSTOP_SERVO_NR 0
//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
// Servo deactivation
//
// With this option servos are powered only during movement, then turned off to prevent jitter.
//#define DEACTIVATE_SERVOS_AFTER_MOVE
#ifdef DEACTIVATE_SERVOS_AFTER_MOVE
// Delay (in microseconds) before turning the servo off. This depends on the servo speed.
// 300ms is a good value but you can try less delay.
// If the servo can't reach the requested position, increase it.
#define SERVO_DEACTIVATION_DELAY 300
#endif
/**********************************************************************\
* Support for a filament diameter sensor
* Also allows adjustment of diameter at print time (vs at slicing)

6
Marlin/example_configurations/Hephestos/Configuration.h
Unescape View File

@ -522,7 +522,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the logic
// If you want to still use the Z min endstop for homing, disable Z_SAFE_HOMING above. Eg; to park the head outside the bed area when homing with G28.
// WARNING: The Z MIN endstop will need to set properly as it would without a Z PROBE to prevent head crashes and premature stopping during a print.
// To use a separate Z PROBE endstop, you must have a Z_PROBE_PIN defined in the pins.h file for your control board.
// If you are using a servo based Z PROBE, you will need to enable NUM_SERVOS, SERVO_ENDSTOPS and SERVO_ENDSTOPS_ANGLES in the R/C Servo below.
// If you are using a servo based Z PROBE, you will need to enable NUM_SERVOS, Z_ENDSTOP_SERVO_NR and SERVO_ENDSTOPS_ANGLES in the R/C Servo below.
// RAMPS 1.3/1.4 boards may be able to use the 5V, Ground and the D32 pin in the Aux 4 section of the RAMPS board. Use 5V for powered sensors, otherwise connect to ground and D32
// for normally closed configuration and 5V and D32 for normally open configurations. Normally closed configuration is advised and assumed.
// The D32 pin in Aux 4 on RAMPS maps to the Arduino D32 pin. Z_PROBE_PIN is setting the pin to use on the Arduino. Since the D32 pin on the RAMPS maps to D32 on Arduino, this works.
@ -772,7 +772,9 @@ const bool Z_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the logic
// This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
// Use M851 to set the z-probe vertical offset from the nozzle. Store that setting with M500.
//
//#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
//#define X_ENDSTOP_SERVO_NR 1
//#define Y_ENDSTOP_SERVO_NR 2
//#define Z_ENDSTOP_SERVO_NR 0
//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
// Servo deactivation

6
Marlin/example_configurations/K8200/Configuration.h
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@ -518,7 +518,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
// If you want to still use the Z min endstop for homing, disable Z_SAFE_HOMING above. Eg; to park the head outside the bed area when homing with G28.
// WARNING: The Z MIN endstop will need to set properly as it would without a Z PROBE to prevent head crashes and premature stopping during a print.
// To use a separate Z PROBE endstop, you must have a Z_PROBE_PIN defined in the pins.h file for your control board.
// If you are using a servo based Z PROBE, you will need to enable NUM_SERVOS, SERVO_ENDSTOPS and SERVO_ENDSTOPS_ANGLES in the R/C Servo below.
// If you are using a servo based Z PROBE, you will need to enable NUM_SERVOS, Z_ENDSTOP_SERVO_NR and SERVO_ENDSTOPS_ANGLES in the R/C Servo below.
// RAMPS 1.3/1.4 boards may be able to use the 5V, Ground and the D32 pin in the Aux 4 section of the RAMPS board. Use 5V for powered sensors, otherwise connect to ground and D32
// for normally closed configuration and 5V and D32 for normally open configurations. Normally closed configuration is advised and assumed.
// The D32 pin in Aux 4 on RAMPS maps to the Arduino D32 pin. Z_PROBE_PIN is setting the pin to use on the Arduino. Since the D32 pin on the RAMPS maps to D32 on Arduino, this works.
@ -768,7 +768,9 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
// This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
// Use M851 to set the z-probe vertical offset from the nozzle. Store that setting with M500.
//
//#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
//#define X_ENDSTOP_SERVO_NR 1
//#define Y_ENDSTOP_SERVO_NR 2
//#define Z_ENDSTOP_SERVO_NR 0
//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
// Servo deactivation

6
Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
Unescape View File

@ -530,7 +530,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
// If you want to still use the Z min endstop for homing, disable Z_SAFE_HOMING above. Eg; to park the head outside the bed area when homing with G28.
// WARNING: The Z MIN endstop will need to set properly as it would without a Z PROBE to prevent head crashes and premature stopping during a print.
// To use a separate Z PROBE endstop, you must have a Z_PROBE_PIN defined in the pins.h file for your control board.
// If you are using a servo based Z PROBE, you will need to enable NUM_SERVOS, SERVO_ENDSTOPS and SERVO_ENDSTOPS_ANGLES in the R/C Servo below.
// If you are using a servo based Z PROBE, you will need to enable NUM_SERVOS, Z_ENDSTOP_SERVO_NR and SERVO_ENDSTOPS_ANGLES in the R/C Servo below.
// RAMPS 1.3/1.4 boards may be able to use the 5V, Ground and the D32 pin in the Aux 4 section of the RAMPS board. Use 5V for powered sensors, otherwise connect to ground and D32
// for normally closed configuration and 5V and D32 for normally open configurations. Normally closed configuration is advised and assumed.
// The D32 pin in Aux 4 on RAMPS maps to the Arduino D32 pin. Z_PROBE_PIN is setting the pin to use on the Arduino. Since the D32 pin on the RAMPS maps to D32 on Arduino, this works.
@ -780,7 +780,9 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
// This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
// Use M851 to set the z-probe vertical offset from the nozzle. Store that setting with M500.
//
//#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
//#define X_ENDSTOP_SERVO_NR 1
//#define Y_ENDSTOP_SERVO_NR 2
//#define Z_ENDSTOP_SERVO_NR 0
//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
// Servo deactivation

6
Marlin/example_configurations/RigidBot/Configuration.h
Unescape View File

@ -510,7 +510,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
// If you want to still use the Z min endstop for homing, disable Z_SAFE_HOMING above. Eg; to park the head outside the bed area when homing with G28.
// WARNING: The Z MIN endstop will need to set properly as it would without a Z PROBE to prevent head crashes and premature stopping during a print.
// To use a separate Z PROBE endstop, you must have a Z_PROBE_PIN defined in the pins.h file for your control board.
// If you are using a servo based Z PROBE, you will need to enable NUM_SERVOS, SERVO_ENDSTOPS and SERVO_ENDSTOPS_ANGLES in the R/C Servo below.
// If you are using a servo based Z PROBE, you will need to enable NUM_SERVOS, Z_ENDSTOP_SERVO_NR and SERVO_ENDSTOPS_ANGLES in the R/C Servo below.
// RAMPS 1.3/1.4 boards may be able to use the 5V, Ground and the D32 pin in the Aux 4 section of the RAMPS board. Use 5V for powered sensors, otherwise connect to ground and D32
// for normally closed configuration and 5V and D32 for normally open configurations. Normally closed configuration is advised and assumed.
// The D32 pin in Aux 4 on RAMPS maps to the Arduino D32 pin. Z_PROBE_PIN is setting the pin to use on the Arduino. Since the D32 pin on the RAMPS maps to D32 on Arduino, this works.
@ -763,7 +763,9 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
// This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
// Use M851 to set the z-probe vertical offset from the nozzle. Store that setting with M500.
//
//#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
//#define X_ENDSTOP_SERVO_NR 1
//#define Y_ENDSTOP_SERVO_NR 2
//#define Z_ENDSTOP_SERVO_NR 0
//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
// Servo deactivation

6
Marlin/example_configurations/SCARA/Configuration.h
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@ -538,7 +538,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
// If you want to still use the Z min endstop for homing, disable Z_SAFE_HOMING above. Eg; to park the head outside the bed area when homing with G28.
// WARNING: The Z MIN endstop will need to set properly as it would without a Z PROBE to prevent head crashes and premature stopping during a print.
// To use a separate Z PROBE endstop, you must have a Z_PROBE_PIN defined in the pins.h file for your control board.
// If you are using a servo based Z PROBE, you will need to enable NUM_SERVOS, SERVO_ENDSTOPS and SERVO_ENDSTOPS_ANGLES in the R/C Servo below.
// If you are using a servo based Z PROBE, you will need to enable NUM_SERVOS, Z_ENDSTOP_SERVO_NR and SERVO_ENDSTOPS_ANGLES in the R/C Servo below.
// RAMPS 1.3/1.4 boards may be able to use the 5V, Ground and the D32 pin in the Aux 4 section of the RAMPS board. Use 5V for powered sensors, otherwise connect to ground and D32
// for normally closed configuration and 5V and D32 for normally open configurations. Normally closed configuration is advised and assumed.
// The D32 pin in Aux 4 on RAMPS maps to the Arduino D32 pin. Z_PROBE_PIN is setting the pin to use on the Arduino. Since the D32 pin on the RAMPS maps to D32 on Arduino, this works.
@ -788,7 +788,9 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
// This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
// Use M851 to set the z-probe vertical offset from the nozzle. Store that setting with M500.
//
//#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
//#define X_ENDSTOP_SERVO_NR 1
//#define Y_ENDSTOP_SERVO_NR 2
//#define Z_ENDSTOP_SERVO_NR 0
//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
// Servo deactivation

6
Marlin/example_configurations/WITBOX/Configuration.h
Unescape View File

@ -522,7 +522,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the logic
// If you want to still use the Z min endstop for homing, disable Z_SAFE_HOMING above. Eg; to park the head outside the bed area when homing with G28.
// WARNING: The Z MIN endstop will need to set properly as it would without a Z PROBE to prevent head crashes and premature stopping during a print.
// To use a separate Z PROBE endstop, you must have a Z_PROBE_PIN defined in the pins.h file for your control board.
// If you are using a servo based Z PROBE, you will need to enable NUM_SERVOS, SERVO_ENDSTOPS and SERVO_ENDSTOPS_ANGLES in the R/C Servo below.
// If you are using a servo based Z PROBE, you will need to enable NUM_SERVOS, Z_ENDSTOP_SERVO_NR and SERVO_ENDSTOPS_ANGLES in the R/C Servo below.
// RAMPS 1.3/1.4 boards may be able to use the 5V, Ground and the D32 pin in the Aux 4 section of the RAMPS board. Use 5V for powered sensors, otherwise connect to ground and D32
// for normally closed configuration and 5V and D32 for normally open configurations. Normally closed configuration is advised and assumed.
// The D32 pin in Aux 4 on RAMPS maps to the Arduino D32 pin. Z_PROBE_PIN is setting the pin to use on the Arduino. Since the D32 pin on the RAMPS maps to D32 on Arduino, this works.
@ -772,7 +772,9 @@ const bool Z_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the logic
// This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
// Use M851 to set the z-probe vertical offset from the nozzle. Store that setting with M500.
//
//#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
//#define X_ENDSTOP_SERVO_NR 1
//#define Y_ENDSTOP_SERVO_NR 2
//#define Z_ENDSTOP_SERVO_NR 0
//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
// Servo deactivation

6
Marlin/example_configurations/adafruit/ST7565/Configuration.h
Unescape View File

@ -530,7 +530,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
// If you want to still use the Z min endstop for homing, disable Z_SAFE_HOMING above. Eg; to park the head outside the bed area when homing with G28.
// WARNING: The Z MIN endstop will need to set properly as it would without a Z PROBE to prevent head crashes and premature stopping during a print.
// To use a separate Z PROBE endstop, you must have a Z_PROBE_PIN defined in the pins.h file for your control board.
// If you are using a servo based Z PROBE, you will need to enable NUM_SERVOS, SERVO_ENDSTOPS and SERVO_ENDSTOPS_ANGLES in the R/C Servo below.
// If you are using a servo based Z PROBE, you will need to enable NUM_SERVOS, Z_ENDSTOP_SERVO_NR and SERVO_ENDSTOPS_ANGLES in the R/C Servo below.
// RAMPS 1.3/1.4 boards may be able to use the 5V, Ground and the D32 pin in the Aux 4 section of the RAMPS board. Use 5V for powered sensors, otherwise connect to ground and D32
// for normally closed configuration and 5V and D32 for normally open configurations. Normally closed configuration is advised and assumed.
// The D32 pin in Aux 4 on RAMPS maps to the Arduino D32 pin. Z_PROBE_PIN is setting the pin to use on the Arduino. Since the D32 pin on the RAMPS maps to D32 on Arduino, this works.
@ -780,7 +780,9 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
// This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
// Use M851 to set the z-probe vertical offset from the nozzle. Store that setting with M500.
//
//#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
//#define X_ENDSTOP_SERVO_NR 1
//#define Y_ENDSTOP_SERVO_NR 2
//#define Z_ENDSTOP_SERVO_NR 0
//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
// Servo deactivation

6
Marlin/example_configurations/delta/biv2.5/Configuration.h
Unescape View File

@ -650,7 +650,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the logic
// If you want to still use the Z min endstop for homing, disable Z_SAFE_HOMING above. Eg; to park the head outside the bed area when homing with G28.
// WARNING: The Z MIN endstop will need to set properly as it would without a Z PROBE to prevent head crashes and premature stopping during a print.
// To use a separate Z PROBE endstop, you must have a Z_PROBE_PIN defined in the pins.h file for your control board.
// If you are using a servo based Z PROBE, you will need to enable NUM_SERVOS, SERVO_ENDSTOPS and SERVO_ENDSTOPS_ANGLES in the R/C Servo below.
// If you are using a servo based Z PROBE, you will need to enable NUM_SERVOS, Z_ENDSTOP_SERVO_NR and SERVO_ENDSTOPS_ANGLES in the R/C Servo below.
// RAMPS 1.3/1.4 boards may be able to use the 5V, Ground and the D32 pin in the Aux 4 section of the RAMPS board. Use 5V for powered sensors, otherwise connect to ground and D32
// for normally closed configuration and 5V and D32 for normally open configurations. Normally closed configuration is advised and assumed.
// The D32 pin in Aux 4 on RAMPS maps to the Arduino D32 pin. Z_PROBE_PIN is setting the pin to use on the Arduino. Since the D32 pin on the RAMPS maps to D32 on Arduino, this works.
@ -903,7 +903,9 @@ const bool Z_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the logic
// This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
// Use M851 to set the z-probe vertical offset from the nozzle. Store that setting with M500.
//
//#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
//#define X_ENDSTOP_SERVO_NR 1
//#define Y_ENDSTOP_SERVO_NR 2
//#define Z_ENDSTOP_SERVO_NR 0
//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
// Servo deactivation

6
Marlin/example_configurations/delta/generic/Configuration.h
Unescape View File

@ -650,7 +650,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the logic
// If you want to still use the Z min endstop for homing, disable Z_SAFE_HOMING above. Eg; to park the head outside the bed area when homing with G28.
// WARNING: The Z MIN endstop will need to set properly as it would without a Z PROBE to prevent head crashes and premature stopping during a print.
// To use a separate Z PROBE endstop, you must have a Z_PROBE_PIN defined in the pins.h file for your control board.
// If you are using a servo based Z PROBE, you will need to enable NUM_SERVOS, SERVO_ENDSTOPS and SERVO_ENDSTOPS_ANGLES in the R/C Servo below.
// If you are using a servo based Z PROBE, you will need to enable NUM_SERVOS, Z_ENDSTOP_SERVO_NR and SERVO_ENDSTOPS_ANGLES in the R/C Servo below.
// RAMPS 1.3/1.4 boards may be able to use the 5V, Ground and the D32 pin in the Aux 4 section of the RAMPS board. Use 5V for powered sensors, otherwise connect to ground and D32
// for normally closed configuration and 5V and D32 for normally open configurations. Normally closed configuration is advised and assumed.
// The D32 pin in Aux 4 on RAMPS maps to the Arduino D32 pin. Z_PROBE_PIN is setting the pin to use on the Arduino. Since the D32 pin on the RAMPS maps to D32 on Arduino, this works.
@ -907,7 +907,9 @@ const bool Z_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the logic
// This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
// Use M851 to set the z-probe vertical offset from the nozzle. Store that setting with M500.
//
//#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
//#define X_ENDSTOP_SERVO_NR 1
//#define Y_ENDSTOP_SERVO_NR 2
//#define Z_ENDSTOP_SERVO_NR 0
//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
// Servo deactivation

6
Marlin/example_configurations/delta/kossel_mini/Configuration.h
Unescape View File

@ -654,7 +654,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
// If you want to still use the Z min endstop for homing, disable Z_SAFE_HOMING above. Eg; to park the head outside the bed area when homing with G28.
// WARNING: The Z MIN endstop will need to set properly as it would without a Z PROBE to prevent head crashes and premature stopping during a print.
// To use a separate Z PROBE endstop, you must have a Z_PROBE_PIN defined in the pins.h file for your control board.
// If you are using a servo based Z PROBE, you will need to enable NUM_SERVOS, SERVO_ENDSTOPS and SERVO_ENDSTOPS_ANGLES in the R/C Servo below.
// If you are using a servo based Z PROBE, you will need to enable NUM_SERVOS, Z_ENDSTOP_SERVO_NR and SERVO_ENDSTOPS_ANGLES in the R/C Servo below.
// RAMPS 1.3/1.4 boards may be able to use the 5V, Ground and the D32 pin in the Aux 4 section of the RAMPS board. Use 5V for powered sensors, otherwise connect to ground and D32
// for normally closed configuration and 5V and D32 for normally open configurations. Normally closed configuration is advised and assumed.
// The D32 pin in Aux 4 on RAMPS maps to the Arduino D32 pin. Z_PROBE_PIN is setting the pin to use on the Arduino. Since the D32 pin on the RAMPS maps to D32 on Arduino, this works.
@ -907,7 +907,9 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
// This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
// Use M851 to set the z-probe vertical offset from the nozzle. Store that setting with M500.
//
//#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
//#define X_ENDSTOP_SERVO_NR 1
//#define Y_ENDSTOP_SERVO_NR 2
//#define Z_ENDSTOP_SERVO_NR 0
//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
// Servo deactivation

6
Marlin/example_configurations/delta/kossel_pro/Configuration.h
Unescape View File

@ -639,7 +639,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
// If you want to still use the Z min endstop for homing, disable Z_SAFE_HOMING above. Eg; to park the head outside the bed area when homing with G28.
// WARNING: The Z MIN endstop will need to set properly as it would without a Z PROBE to prevent head crashes and premature stopping during a print.
// To use a separate Z PROBE endstop, you must have a Z_PROBE_PIN defined in the pins.h file for your control board.
// If you are using a servo based Z PROBE, you will need to enable NUM_SERVOS, SERVO_ENDSTOPS and SERVO_ENDSTOPS_ANGLES in the R/C Servo below.
// If you are using a servo based Z PROBE, you will need to enable NUM_SERVOS, Z_ENDSTOP_SERVO_NR and SERVO_ENDSTOPS_ANGLES in the R/C Servo below.
// RAMPS 1.3/1.4 boards may be able to use the 5V, Ground and the D32 pin in the Aux 4 section of the RAMPS board. Use 5V for powered sensors, otherwise connect to ground and D32
// for normally closed configuration and 5V and D32 for normally open configurations. Normally closed configuration is advised and assumed.
// The D32 pin in Aux 4 on RAMPS maps to the Arduino D32 pin. Z_PROBE_PIN is setting the pin to use on the Arduino. Since the D32 pin on the RAMPS maps to D32 on Arduino, this works.
@ -902,7 +902,9 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
// This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
// Use M851 to set the z-probe vertical offset from the nozzle. Store that setting with M500.
//
//#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
//#define X_ENDSTOP_SERVO_NR 1
//#define Y_ENDSTOP_SERVO_NR 2
//#define Z_ENDSTOP_SERVO_NR 0
//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
// Servo deactivation

6
Marlin/example_configurations/makibox/Configuration.h
Unescape View File

@ -533,7 +533,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
// If you want to still use the Z min endstop for homing, disable Z_SAFE_HOMING above. Eg; to park the head outside the bed area when homing with G28.
// WARNING: The Z MIN endstop will need to set properly as it would without a Z PROBE to prevent head crashes and premature stopping during a print.
// To use a separate Z PROBE endstop, you must have a Z_PROBE_PIN defined in the pins.h file for your control board.
// If you are using a servo based Z PROBE, you will need to enable NUM_SERVOS, SERVO_ENDSTOPS and SERVO_ENDSTOPS_ANGLES in the R/C Servo below.
// If you are using a servo based Z PROBE, you will need to enable NUM_SERVOS, Z_ENDSTOP_SERVO_NR and SERVO_ENDSTOPS_ANGLES in the R/C Servo below.
// RAMPS 1.3/1.4 boards may be able to use the 5V, Ground and the D32 pin in the Aux 4 section of the RAMPS board. Use 5V for powered sensors, otherwise connect to ground and D32
// for normally closed configuration and 5V and D32 for normally open configurations. Normally closed configuration is advised and assumed.
// The D32 pin in Aux 4 on RAMPS maps to the Arduino D32 pin. Z_PROBE_PIN is setting the pin to use on the Arduino. Since the D32 pin on the RAMPS maps to D32 on Arduino, this works.
@ -783,7 +783,9 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
// This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
// Use M851 to set the z-probe vertical offset from the nozzle. Store that setting with M500.
//
//#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
//#define X_ENDSTOP_SERVO_NR 1
//#define Y_ENDSTOP_SERVO_NR 2
//#define Z_ENDSTOP_SERVO_NR 0
//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
// Servo deactivation

6
Marlin/example_configurations/tvrrug/Round2/Configuration.h
Unescape View File

@ -520,7 +520,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the logic
// If you want to still use the Z min endstop for homing, disable Z_SAFE_HOMING above. Eg; to park the head outside the bed area when homing with G28.
// WARNING: The Z MIN endstop will need to set properly as it would without a Z PROBE to prevent head crashes and premature stopping during a print.
// To use a separate Z PROBE endstop, you must have a Z_PROBE_PIN defined in the pins.h file for your control board.
// If you are using a servo based Z PROBE, you will need to enable NUM_SERVOS, SERVO_ENDSTOPS and SERVO_ENDSTOPS_ANGLES in the R/C Servo below.
// If you are using a servo based Z PROBE, you will need to enable NUM_SERVOS, Z_ENDSTOP_SERVO_NR and SERVO_ENDSTOPS_ANGLES in the R/C Servo below.
// RAMPS 1.3/1.4 boards may be able to use the 5V, Ground and the D32 pin in the Aux 4 section of the RAMPS board. Use 5V for powered sensors, otherwise connect to ground and D32
// for normally closed configuration and 5V and D32 for normally open configurations. Normally closed configuration is advised and assumed.
// The D32 pin in Aux 4 on RAMPS maps to the Arduino D32 pin. Z_PROBE_PIN is setting the pin to use on the Arduino. Since the D32 pin on the RAMPS maps to D32 on Arduino, this works.
@ -774,7 +774,9 @@ const bool Z_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the logic
// This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
// Use M851 to set the z-probe vertical offset from the nozzle. Store that setting with M500.
//
//#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
//#define X_ENDSTOP_SERVO_NR 1
//#define Y_ENDSTOP_SERVO_NR 2
//#define Z_ENDSTOP_SERVO_NR 0
//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
// Servo deactivation

13
Marlin/servo.cpp
Unescape View File

@ -304,21 +304,14 @@ int Servo::readMicroseconds() {
bool Servo::attached() { return servo_info[this->servoIndex].Pin.isActive; }
int8_t Servo::move(int pin, int value) {
int8_t ret;
#if defined(DEACTIVATE_SERVOS_AFTER_MOVE) && (SERVO_DEACTIVATION_DELAY > 0)
ret = this->attach(pin);
#else
ret = this->servoIndex;
#endif
if (ret >= 0) {
void Servo::move(int value) {
if (this->attach(0) >= 0) {
this->write(value);
#if defined(DEACTIVATE_SERVOS_AFTER_MOVE) && (SERVO_DEACTIVATION_DELAY > 0)
#ifdef DEACTIVATE_SERVOS_AFTER_MOVE
delay(SERVO_DEACTIVATION_DELAY);
this->detach();
#endif
}
return ret;
}
#endif

16
Marlin/servo.h
Unescape View File

@ -37,11 +37,11 @@
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
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)
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),
With DEACTIVATE_SERVOS_AFTER_MOVE it waits SERVO_DEACTIVATION_DELAY and detaches.
move(angle) - Sequence of attach(0), write(angle),
With DEACTIVATE_SERVOS_AFTER_MOVE wait SERVO_DEACTIVATION_DELAY and detach.
*/
#ifndef servo_h
@ -117,14 +117,14 @@ typedef struct {
class Servo {
public:
Servo();
int8_t attach(int pin); // attach the given pin to the next free channel, set pinMode, return channel number (-1 on fail)
int8_t attach(int pin); // attach the given pin to the next free channel, set pinMode, return channel number (-1 on fail)
int8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes.
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
int8_t move(int pin, int value); // attach the given pin to the next free channel, set pinMode, return channel number (-1 if attach fails)
// 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.
void writeMicroseconds(int value); // write pulse width in microseconds
void move(int value); // attach the servo, then move to value
// if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds
// if DEACTIVATE_SERVOS_AFTER_MOVE wait SERVO_DEACTIVATION_DELAY, then detach
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

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