diff --git a/Grbl_Esp32/Machines/foo_6axis.h b/Grbl_Esp32/Machines/foo_6axis.h index 7ba84e96..d75ec814 100644 --- a/Grbl_Esp32/Machines/foo_6axis.h +++ b/Grbl_Esp32/Machines/foo_6axis.h @@ -50,13 +50,11 @@ // servos -#define Z_SERVO #define Z_SERVO_PIN GPIO_NUM_22 #define Z_SERVO_RANGE_MIN 0.0 #define Z_SERVO_RANGE_MAX 5.0 -#define C_SERVO #define C_SERVO_PIN GPIO_NUM_2 #define C_SERVO_RANGE_MIN 0.0 #define C_SERVO_RANGE_MAX 5.0 diff --git a/Grbl_Esp32/Machines/midtbot.h b/Grbl_Esp32/Machines/midtbot.h index cd4190de..305061ac 100644 --- a/Grbl_Esp32/Machines/midtbot.h +++ b/Grbl_Esp32/Machines/midtbot.h @@ -42,7 +42,6 @@ #define Y_LIMIT_PIN GPIO_NUM_4 #define LIMIT_MASK B11 -#define Z_SERVO #define Z_SERVO_PIN GPIO_NUM_27 #define Z_SERVO_RANGE_MIN 0.0 #define Z_SERVO_RANGE_MAX 5.0 diff --git a/Grbl_Esp32/Machines/motor_class_test.h b/Grbl_Esp32/Machines/motor_class_test.h index 0a8f35bd..f2f783eb 100644 --- a/Grbl_Esp32/Machines/motor_class_test.h +++ b/Grbl_Esp32/Machines/motor_class_test.h @@ -249,7 +249,6 @@ #define Z_DIRECTION_PIN GPIO_NUM_32 #define Z_CS_PIN X_CS_PIN // Daisy Chain, all share same CS pin -#define A_SERVO #define A_SERVO_PIN GPIO_NUM_25 #define A_SERVO_RANGE_MIN 0.0 #define A_SERVO_RANGE_MAX 5.0 diff --git a/Grbl_Esp32/Machines/pen_laser.h b/Grbl_Esp32/Machines/pen_laser.h index 6ca6f2e4..596efbea 100644 --- a/Grbl_Esp32/Machines/pen_laser.h +++ b/Grbl_Esp32/Machines/pen_laser.h @@ -53,7 +53,6 @@ //#define USING_SOLENOID // uncomment to use this feature #ifdef USING_SERVO - #define Z_SERVO #define Z_SERVO_PIN GPIO_NUM_27 #define Z_SERVO_RANGE_MIN 0.0 #define Z_SERVO_RANGE_MAX 10.0 diff --git a/Grbl_Esp32/Machines/polar_coaster.h b/Grbl_Esp32/Machines/polar_coaster.h index dcfa50f6..b66ecc81 100644 --- a/Grbl_Esp32/Machines/polar_coaster.h +++ b/Grbl_Esp32/Machines/polar_coaster.h @@ -45,7 +45,6 @@ #define STEPPERS_DISABLE_PIN GPIO_NUM_17 -#define Z_SERVO #define Z_SERVO_PIN GPIO_NUM_16 #define Z_SERVO_RANGE_MIN 0.0 #define Z_SERVO_RANGE_MAX 5.0 diff --git a/Grbl_Esp32/Machines/template.h b/Grbl_Esp32/Machines/template.h index 9b668dd7..c6786829 100644 --- a/Grbl_Esp32/Machines/template.h +++ b/Grbl_Esp32/Machines/template.h @@ -131,15 +131,12 @@ // === Servos // To use a servo motor on an axis, do not define step and direction -// pins for that axis, but instead include a block like this: -// #define USE_SERVO_AXES +// pins for that axis, but instead include a block that has three +// #defines, like this. // #define SERVO_Z_PIN GPIO_NUM_22 // #define SERVO_Z_RANGE_MIN 0.0 // #define SERVO_Z_RANGE_MAX 5.0 -// #define SERVO_Z_HOMING_TYPE SERVO_HOMING_TARGET // during homing it will instantly move to a target value -// #define SERVO_Z_HOME_POS SERVO_Z_RANGE_MAX // move to max during homing -// #define SERVO_Z_MPOS false // will not use mpos, uses work coordinates // === Homing cycles // The default homing order is Z first (HOMING_CYCLE_0), diff --git a/Grbl_Esp32/Machines/tmc2130_pen.h b/Grbl_Esp32/Machines/tmc2130_pen.h index 409a1a02..84d103fe 100644 --- a/Grbl_Esp32/Machines/tmc2130_pen.h +++ b/Grbl_Esp32/Machines/tmc2130_pen.h @@ -61,7 +61,6 @@ #ifdef USE_SERVO_AXES #define SPINDLE_TYPE SPINDLE_TYPE_NONE - #define Z_SERVO #define Z_SERVO_PIN GPIO_NUM_27 // comment this out if PWM spindle/laser control. #define Z_SERVO_RANGE_MIN 0.0 #define Z_SERVO_RANGE_MAX 5.0 diff --git a/Grbl_Esp32/Motors/MotorClass.cpp b/Grbl_Esp32/Motors/MotorClass.cpp index c0bd5e6b..f7851000 100644 --- a/Grbl_Esp32/Motors/MotorClass.cpp +++ b/Grbl_Esp32/Motors/MotorClass.cpp @@ -64,7 +64,7 @@ void init_motors() { // this WILL be done better with settings #ifdef X_TRINAMIC_DRIVER myMotor[X_AXIS][0] = new TrinamicDriver(X_AXIS, X_STEP_PIN, X_DIRECTION_PIN, X_TRINAMIC_DRIVER, X_RSENSE, X_CS_PIN, get_next_trinamic_driver_index()); -#elif defined(X_SERVO) +#elif defined(X_SERVO_PIN) myMotor[X_AXIS][0] = new RcServo(X_AXIS, X_SERVO_PIN, X_SERVO_RANGE_MIN, X_SERVO_RANGE_MAX); #elif defined(X_UNIPOLAR) myMotor[X_AXIS][0] = new UnipolarMotor(X_AXIS, X_PIN_PHASE_0, X_PIN_PHASE_1, X_PIN_PHASE_2, X_PIN_PHASE_3); @@ -76,7 +76,7 @@ void init_motors() { #ifdef X2_TRINAMIC_DRIVER myMotor[X_AXIS][1] = new TrinamicDriver(X2_AXIS, X2_STEP_PIN, X2_DIRECTION_PIN, X2_TRINAMIC_DRIVER, X2_RSENSE, X2_CS_PIN, get_next_trinamic_driver_index()); -#elif defined(X2_SERVO) +#elif defined(X2_SERVO_PIN) myMotor[X_AXIS][1] = new RcServo(X2_AXIS, X2_SERVO_PIN), X2_SERVO_RANGE_MIN, X2_SERVO_RANGE_MAX; #elif defined(X2_UNIPOLAR) myMotor[X_AXIS][1] = new UnipolarMotor(X2_AXIS, X2_PIN_PHASE_0, X2_PIN_PHASE_1, X2_PIN_PHASE_2, X2_PIN_PHASE_3); @@ -90,7 +90,7 @@ void init_motors() { // this WILL be done better with settings #ifdef Y_TRINAMIC_DRIVER myMotor[Y_AXIS][0] = new TrinamicDriver(Y_AXIS, Y_STEP_PIN, Y_DIRECTION_PIN, Y_TRINAMIC_DRIVER, Y_RSENSE, Y_CS_PIN, get_next_trinamic_driver_index()); -#elif defined(Y_SERVO) +#elif defined(Y_SERVO_PIN) myMotor[Y_AXIS][0] = new RcServo(Y_AXIS, Y_SERVO_PIN, Y_SERVO_RANGE_MIN, Y_SERVO_RANGE_MAX); #elif defined(Y_UNIPOLAR) myMotor[Y_AXIS][0] = new UnipolarMotor(Y_AXIS, Y_PIN_PHASE_0, Y_PIN_PHASE_1, Y_PIN_PHASE_2, Y_PIN_PHASE_3); @@ -102,7 +102,7 @@ void init_motors() { #ifdef Y2_TRINAMIC_DRIVER myMotor[Y_AXIS][1] = new TrinamicDriver(Y2_AXIS, Y2_STEP_PIN, Y2_DIRECTION_PIN, Y2_TRINAMIC_DRIVER, Y2_RSENSE, Y2_CS_PIN, get_next_trinamic_driver_index()); -#elif defined(Y2_SERVO) +#elif defined(Y2_SERVO_PIN) myMotor[Y_AXIS][1] = new RcServo(Y2_AXIS, Y2_SERVO_PIN, Y2_SERVO_RANGE_MIN, Y2_SERVO_RANGE_MAX); #elif defined(Y2_UNIPOLAR) myMotor[Y_AXIS][1] = new UnipolarMotor(Y2_AXIS, Y2_PIN_PHASE_0, Y2_PIN_PHASE_1, Y2_PIN_PHASE_2, Y2_PIN_PHASE_3); @@ -115,7 +115,7 @@ void init_motors() { // this WILL be done better with settings #ifdef Z_TRINAMIC_DRIVER myMotor[Z_AXIS][0] = new TrinamicDriver(Z_AXIS, Z_STEP_PIN, Z_DIRECTION_PIN, Z_TRINAMIC_DRIVER, Z_RSENSE, Z_CS_PIN, get_next_trinamic_driver_index()); -#elif defined(Z_SERVO) +#elif defined(Z_SERVO_PIN) myMotor[Z_AXIS][0] = new RcServo(Z_AXIS, Z_SERVO_PIN, Z_SERVO_RANGE_MIN, Z_SERVO_RANGE_MAX); #elif defined(Z_UNIPOLAR) myMotor[Z_AXIS][0] = new UnipolarMotor(Z_AXIS, Z_PIN_PHASE_0, Z_PIN_PHASE_1, Z_PIN_PHASE_2, Z_PIN_PHASE_3); @@ -127,7 +127,7 @@ void init_motors() { #ifdef Z2_TRINAMIC_DRIVER myMotor[Z_AXIS][1] = new TrinamicDriver(Z2_AXIS, Z2_STEP_PIN, Z2_DIRECTION_PIN, Z2_TRINAMIC_DRIVER, Z2_RSENSE, Z2_CS_PIN, get_next_trinamic_driver_index()); -#elif defined(Z2_SERVO) +#elif defined(Z2_SERVO_PIN) myMotor[Z_AXIS][1] = new RcServo(Z2_AXIS, Z2_SERVO_PIN, Z2_SERVO_RANGE_MIN, Z2_SERVO_RANGE_MAX); #elif defined(Z2_UNIPOLAR) myMotor[Z_AXIS][1] = new UnipolarMotor(Z2_AXIS, Z2_PIN_PHASE_0, Z2_PIN_PHASE_1, Z2_PIN_PHASE_2, Z2_PIN_PHASE_3); @@ -140,7 +140,7 @@ void init_motors() { // this WILL be done better with settings #ifdef A_TRINAMIC_DRIVER myMotor[A_AXIS][0] = new TrinamicDriver(A_AXIS, A_STEP_PIN, A_DIRECTION_PIN, A_TRINAMIC_DRIVER, A_RSENSE, A_CS_PIN, get_next_trinamic_driver_index()); -#elif defined(A_SERVO) +#elif defined(A_SERVO_PIN) myMotor[A_AXIS][0] = new RcServo(A_AXIS, A_SERVO_PIN, A_SERVO_RANGE_MIN, A_SERVO_RANGE_MAX); #elif defined(A_UNIPOLAR) myMotor[A_AXIS][0] = new UnipolarMotor(A_AXIS, A_PIN_PHASE_0, A_PIN_PHASE_1, A_PIN_PHASE_2, A_PIN_PHASE_3); @@ -152,7 +152,7 @@ void init_motors() { #ifdef A2_TRINAMIC_DRIVER myMotor[A_AXIS][1] = new TrinamicDriver(A2_AXIS, A2_STEP_PIN, A2_DIRECTION_PIN, A2_TRINAMIC_DRIVER, A2_RSENSE, A2_CS_PIN, get_next_trinamic_driver_index()); -#elif defined(A2_SERVO) +#elif defined(A2_SERVO_PIN) myMotor[A_AXIS][1] = new RcServo(A2_AXIS, A2_SERVO_PIN, A2_SERVO_RANGE_MIN, A2_SERVO_RANGE_MAX); #elif defined(A2_UNIPOLAR) myMotor[A_AXIS][1] = new UnipolarMotor(A2_AXIS, A2_PIN_PHASE_0, A2_PIN_PHASE_1, A2_PIN_PHASE_2, A2_PIN_PHASE_3); @@ -165,7 +165,7 @@ void init_motors() { // this WILL be done better with settings #ifdef B_TRINAMIC_DRIVER myMotor[B_AXIS][0] = new TrinamicDriver(B_AXIS, B_STEP_PIN, B_DIRECTION_PIN, B_TRINAMIC_DRIVER, B_RSENSE, B_CS_PIN, get_next_trinamic_driver_index()); -#elif defined(B_SERVO) +#elif defined(B_SERVO_PIN) myMotor[B_AXIS][0] = new RcServo(B_AXIS, B_SERVO_PIN, B_SERVO_RANGE_MIN, B_SERVO_RANGE_MAX); #elif defined(B_UNIPOLAR) myMotor[B_AXIS][0] = new UnipolarMotor(B_AXIS, B_PIN_PHASE_0, B_PIN_PHASE_1, B_PIN_PHASE_2, B_PIN_PHASE_3); @@ -177,7 +177,7 @@ void init_motors() { #ifdef B2_TRINAMIC_DRIVER myMotor[B_AXIS][1] = new TrinamicDriver(B2_AXIS, B2_STEP_PIN, B2_DIRECTION_PIN, B2_TRINAMIC_DRIVER, B2_RSENSE, B2_CS_PIN, get_next_trinamic_driver_index()); -#elif defined(B2_SERVO) +#elif defined(B2_SERVO_PIN) myMotor[B_AXIS][1] = new RcServo(B2_AXIS, B2_SERVO_PIN, B2_SERVO_RANGE_MIN, B2_SERVO_RANGE_MAX); #elif defined(B2_UNIPOLAR) myMotor[B_AXIS][1] = new UnipolarMotor(B2_AXIS, B2_PIN_PHASE_0, B2_PIN_PHASE_1, B2_PIN_PHASE_2, B2_PIN_PHASE_3); @@ -190,7 +190,7 @@ void init_motors() { // this WILL be done better with settings #ifdef C_TRINAMIC_DRIVER myMotor[C_AXIS][0] = new TrinamicDriver(C_AXIS, C_STEP_PIN, C_DIRECTION_PIN, C_TRINAMIC_DRIVER, C_RSENSE, C_CS_PIN, get_next_trinamic_driver_index()); -#elif defined(C_SERVO) +#elif defined(C_SERVO_PIN) myMotor[C_AXIS][0] = new RcServo(C_AXIS, C_SERVO_PIN, C_SERVO_RANGE_MIN, C_SERVO_RANGE_MAX); #elif defined(C_UNIPOLAR) myMotor[C_AXIS][0] = new UnipolarMotor(C_AXIS, C_PIN_PHASE_0, C_PIN_PHASE_1, C_PIN_PHASE_2, C_PIN_PHASE_3); @@ -202,7 +202,7 @@ void init_motors() { #ifdef C2_TRINAMIC_DRIVER myMotor[C_AXIS][1] = new TrinamicDriver(C2_AXIS, C2_STEP_PIN, C2_DIRECTION_PIN, C2_TRINAMIC_DRIVER, C2_RSENSE, C2_CS_PIN, get_next_trinamic_driver_index()); -#elif defined(C2_SERVO) +#elif defined(C2_SERVO_PIN) myMotor[C_AXIS][1] = new RcServo(C2_AXIS, C2_SERVO_PIN, C2_SERVO_RANGE_MIN, C2_SERVO_RANGE_MAX); #elif defined(C2_UNIPOLAR) myMotor[C_AXIS][1] = new UnipolarMotor(C2_AXIS, C2_PIN_PHASE_0, C2_PIN_PHASE_1, C2_PIN_PHASE_2, C2_PIN_PHASE_3); diff --git a/Grbl_Esp32/machine.h b/Grbl_Esp32/machine.h index 56fb3959..27f1d5a7 100644 --- a/Grbl_Esp32/machine.h +++ b/Grbl_Esp32/machine.h @@ -16,7 +16,7 @@ PWM // !!! For initial testing, start with test_drive.h which disables // all I/O pins -#include "Machines/tmc2130_pen.h" +#include "Machines/motor_class_test.h" // !!! For actual use, change the line above to select a board // from Machines/, for example: