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evil-mad / EggBot

Software for The Original EggBot
GNU General Public License v3.0
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EBB Firmware: Enhance SP command to allow an immediate servo pen raise #222

Closed EmbeddedMan closed 5 months ago

EmbeddedMan commented 5 months ago

In EBB v3.0.0 the SP command takes three parameters, the first of which is a "0" (down) or "1" (up). When used currently, the move command for the servo is added into the command FIFO along with other move commands.

This proposal is to create two new values for that first parameter:

"2" : This would cause the servo to immediately begin a rise to the up position (as if SP,1 had been issued). It would bypass the FIFO and begin moving the servo immediately.

"3" : This would do the same as "2" but also set both servo_min and servo_max positions to the value of servo_min (for historical reasons servo_min is the position of the servo when 'up'). This has the effect of preventing any future servo movement even if other servo commands are still waiting to be executed in the FIFO, until the PC re-writes the value for servo_max (the 'down' position).

EmbeddedMan commented 5 months ago

These two new parameters were added in the v3.0.1 release.