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Add forgotten Marlin_main.cpp

AnHardt 10 年之前
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088e09e052
共有 1 個檔案被更改,包括 13 行新增15 行删除
  1. 13
    15
      Marlin/Marlin_main.cpp

+ 13
- 15
Marlin/Marlin_main.cpp 查看文件

@@ -555,22 +555,26 @@ void suicide() {
555 555
 void servo_init() {
556 556
   #if NUM_SERVOS >= 1 && HAS_SERVO_0
557 557
     servo[0].attach(SERVO0_PIN);
558
+    servo[0].detach(); // Just set up the pin. We don't have a position yet. Don't move to a random position.
558 559
   #endif
559 560
   #if NUM_SERVOS >= 2 && HAS_SERVO_1
560 561
     servo[1].attach(SERVO1_PIN);
562
+    servo[1].detach();
561 563
   #endif
562 564
   #if NUM_SERVOS >= 3 && HAS_SERVO_2
563 565
     servo[2].attach(SERVO2_PIN);
566
+    servo[2].detach();
564 567
   #endif
565 568
   #if NUM_SERVOS >= 4 && HAS_SERVO_3
566 569
     servo[3].attach(SERVO3_PIN);
570
+    servo[3].detach();
567 571
   #endif
568 572
 
569 573
   // Set position of Servo Endstops that are defined
570 574
   #ifdef SERVO_ENDSTOPS
571 575
     for (int i = 0; i < 3; i++)
572 576
       if (servo_endstops[i] >= 0)
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-        servo[servo_endstops[i]].move(0, servo_endstop_angles[i * 2 + 1]);
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+        servo[servo_endstops[i]].move(servo_endstop_angles[i * 2 + 1]);
574 578
   #endif
575 579
 
576 580
 }
@@ -1310,10 +1314,7 @@ static void setup_for_endstop_move() {
1310 1314
     #ifdef SERVO_ENDSTOPS
1311 1315
 
1312 1316
       // Engage Z Servo endstop if enabled
1313
-      if (servo_endstops[Z_AXIS] >= 0) {
1314
-        Servo *srv = &servo[servo_endstops[Z_AXIS]];
1315
-        srv->move(0, servo_endstop_angles[Z_AXIS * 2]);
1316
-      }
1317
+      if (servo_endstops[Z_AXIS] >= 0) servo[servo_endstops[Z_AXIS]].move(servo_endstop_angles[Z_AXIS * 2]);
1317 1318
 
1318 1319
     #elif defined(Z_PROBE_ALLEN_KEY)
1319 1320
       feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE;
@@ -1413,8 +1414,7 @@ static void setup_for_endstop_move() {
1413 1414
         #endif
1414 1415
 
1415 1416
         // Change the Z servo angle
1416
-        Servo *srv = &servo[servo_endstops[Z_AXIS]];
1417
-        srv->move(0, servo_endstop_angles[Z_AXIS * 2 + 1]);
1417
+        servo[servo_endstops[Z_AXIS]].move(servo_endstop_angles[Z_AXIS * 2 + 1]);
1418 1418
       }
1419 1419
 
1420 1420
     #elif defined(Z_PROBE_ALLEN_KEY)
@@ -1665,8 +1665,8 @@ static void homeaxis(AxisEnum axis) {
1665 1665
     #ifdef SERVO_ENDSTOPS
1666 1666
       if (axis != Z_AXIS) {
1667 1667
         // Engage Servo endstop if enabled
1668
-        if (servo_endstops[axis] > -1)
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-          servo[servo_endstops[axis]].move(0, servo_endstop_angles[axis * 2]);
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+        if (servo_endstops[axis] >= 0) 
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+          servo[servo_endstops[axis]].move(servo_endstop_angles[axis * 2]);
1670 1670
       }
1671 1671
     #endif
1672 1672
 
@@ -1768,8 +1768,8 @@ static void homeaxis(AxisEnum axis) {
1768 1768
     {
1769 1769
       #ifdef SERVO_ENDSTOPS
1770 1770
         // Retract Servo endstop if enabled
1771
-        if (servo_endstops[axis] > -1)
1772
-          servo[servo_endstops[axis]].move(0, servo_endstop_angles[axis * 2 + 1]);
1771
+        if (servo_endstops[axis] >= 0)
1772
+          servo[servo_endstops[axis]].move(servo_endstop_angles[axis * 2 + 1]);
1773 1773
       #endif
1774 1774
     }
1775 1775
 
@@ -4233,10 +4233,8 @@ inline void gcode_M226() {
4233 4233
     int servo_position = 0;
4234 4234
     if (code_seen('S')) {
4235 4235
       servo_position = code_value_short();
4236
-      if (servo_index >= 0 && servo_index < NUM_SERVOS) {
4237
-        Servo *srv = &servo[servo_index];
4238
-        srv->move(0, servo_position);
4239
-      }
4236
+      if (servo_index >= 0 && servo_index < NUM_SERVOS) 
4237
+        servo[servo_index].move(servo_position);
4240 4238
       else {
4241 4239
         SERIAL_ECHO_START;
4242 4240
         SERIAL_ECHO("Servo ");

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