Merge Servo Corrections (PR#2510)

Marlin/Conditionals.h

@@ -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

Marlin/Configuration.h

@@ -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

Marlin/Marlin_main.cpp

@@ -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 ");

Marlin/SanityCheck.h

@@ -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.

Marlin/configurator/config/Configuration.h

@@ -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

Marlin/example_configurations/Felix/Configuration.h

@@ -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

Marlin/example_configurations/Felix/Configuration_DUAL.h

@@ -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)

Marlin/example_configurations/Hephestos/Configuration.h

@@ -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

Marlin/example_configurations/K8200/Configuration.h

@@ -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

Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h

@@ -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

Marlin/example_configurations/RigidBot/Configuration.h

@@ -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

Marlin/example_configurations/SCARA/Configuration.h

@@ -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

Marlin/example_configurations/WITBOX/Configuration.h

@@ -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

Marlin/example_configurations/adafruit/ST7565/Configuration.h

@@ -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

Marlin/example_configurations/delta/biv2.5/Configuration.h

@@ -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

Marlin/example_configurations/delta/generic/Configuration.h

@@ -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

Marlin/example_configurations/delta/kossel_mini/Configuration.h

@@ -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

Marlin/example_configurations/delta/kossel_pro/Configuration.h

@@ -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

Marlin/example_configurations/makibox/Configuration.h

@@ -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

Marlin/example_configurations/tvrrug/Round2/Configuration.h

@@ -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

Marlin/servo.cpp

@@ -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

Marlin/servo.h

@@ -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