Servo

The servo plugin implements pwm control of servos. It also provides a driver for the bltouch probe.

The plugin allows abstraction of the pwm-pins and the use of the set_angle and get_angle functions. It also provides Marlin-style M280 commands for easy interfacing and manual control.

It relies on the "ioport" output ports defined in grblhal. The port should specifically be of the analog type and pwm-capable.

Enable Servo

Required:

#define HAS_IOPORTS
#define SERVO
#define AUXOUTPUT0_PWM_PIN  15 //Define the GPIO pin that will output pwm and is attached to the servo. Done for every N_SERVO

Optional:

#define N_SERVOS 1 //Default, servos are claimed sequentially from available PWM ports

IOport pins

For context, "ioport" pins are defined in driver.c

#ifdef AUXOUTPUT0_PWM_PIN
    { .id = Output_Analog_Aux0, .port = GPIO_OUTPUT, .pin = AUXOUTPUT0_PWM_PIN, .group = PinGroup_AuxOutputAnalog, .mode = { PINMODE_PWM } },
#endif

M280 Commands

M280 P<index> S<pos>

M280 P0 S10 sets the servo angle

M280 P0 S prints the current set servo angle

BLtouch

The bltouch plugin depends on the servos that are defined. This is because the module takes PWM-like servo commands.

To enable use: #define HAS_BLTOUCH 31 //Version 3.1

This overwrites other probes that might be attached to the system.

Port

As the bltouch plugin relies on servo, the ports are defined in servo-number land. The plugin takes the 0th servo port by default.

#define BLTOUCH_SERVO_PORT 0

Probe pin

This ofcourse should be defined to trigger the probe.

#define PROBE_PIN 28