Merge Anti-jitter for all servo moves (PR#2427)

Marlin/Configuration.h

@@ -504,13 +504,6 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
   //#define Z_PROBE_SLED // turn on if you have a z-probe mounted on a sled like those designed by Charles Bell
   //#define SLED_DOCKING_OFFSET 5 // the extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like.
 
-  //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,
 //it is highly recommended you let this Z_SAFE_HOMING enabled!!!
 
@@ -774,6 +767,17 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
 //
 //#define NUM_SERVOS 3 // Servo index starts with 0 for M280 command
 
+// If DEACTIVATE_SERVOS_AFTER_MOVE is defined, the servos will be turned on only during movement and then turned off to avoid jitter
+// SERVO_DEACTIVATION_DELAY 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.
+// If your servo does not reach the requested position, enlarge the time.
+// You MUST HAVE the SERVO_ENDSTOPS defined to use here a value higher than zero otherwise your code will not compile.
+//
+//#define DEACTIVATE_SERVOS_AFTER_MOVE
+
+#ifdef DEACTIVATE_SERVOS_AFTER_MOVE
+  #define SERVO_DEACTIVATION_DELAY 300
+#endif
+
 // Servo Endstops
 //
 // This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.

Marlin/Marlin_main.cpp

@@ -36,7 +36,7 @@
   #endif
 #endif // ENABLE_AUTO_BED_LEVELING
 
-#define SERVO_LEVELING (defined(ENABLE_AUTO_BED_LEVELING) && PROBE_SERVO_DEACTIVATION_DELAY > 0)
+#define SERVO_LEVELING (defined(ENABLE_AUTO_BED_LEVELING) && defined(DEACTIVATE_SERVOS_AFTER_MOVE))
 
 #ifdef MESH_BED_LEVELING
   #include "mesh_bed_leveling.h"
@@ -570,13 +570,9 @@ void servo_init() {
   #ifdef SERVO_ENDSTOPS
     for (int i = 0; i < 3; i++)
       if (servo_endstops[i] >= 0)
-        servo[servo_endstops[i]].write(servo_endstop_angles[i * 2 + 1]);
+        servo[servo_endstops[i]].move(0, servo_endstop_angles[i * 2 + 1]);
   #endif
 
-  #if SERVO_LEVELING
-    delay(PROBE_SERVO_DEACTIVATION_DELAY);
-    servo[servo_endstops[Z_AXIS]].detach();
-  #endif
 }
 
 /**
@@ -1315,14 +1311,7 @@ static void setup_for_endstop_move() {
       // Engage Z Servo endstop if enabled
       if (servo_endstops[Z_AXIS] >= 0) {
         Servo *srv = &servo[servo_endstops[Z_AXIS]];
-        #if SERVO_LEVELING
+        srv->move(0, servo_endstop_angles[Z_AXIS * 2]);
-          srv->attach(0);
-        #endif
-        srv->write(servo_endstop_angles[Z_AXIS * 2]);
-        #if SERVO_LEVELING
-          delay(PROBE_SERVO_DEACTIVATION_DELAY);
-          srv->detach();
-        #endif
       }
 
     #elif defined(Z_PROBE_ALLEN_KEY)
@@ -1424,14 +1413,7 @@ static void setup_for_endstop_move() {
 
         // Change the Z servo angle
         Servo *srv = &servo[servo_endstops[Z_AXIS]];
-        #if SERVO_LEVELING
+        srv->move(0, servo_endstop_angles[Z_AXIS * 2 + 1]);
-          srv->attach(0);
-        #endif
-        srv->write(servo_endstop_angles[Z_AXIS * 2 + 1]);
-        #if SERVO_LEVELING
-          delay(PROBE_SERVO_DEACTIVATION_DELAY);
-          srv->detach();
-        #endif
       }
 
     #elif defined(Z_PROBE_ALLEN_KEY)
@@ -1683,7 +1665,7 @@ static void homeaxis(AxisEnum axis) {
       if (axis != Z_AXIS) {
         // Engage Servo endstop if enabled
         if (servo_endstops[axis] > -1)
-          servo[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]);
+          servo[servo_endstops[axis]].move(0, servo_endstop_angles[axis * 2]);
       }
     #endif
 
@@ -1786,7 +1768,7 @@ static void homeaxis(AxisEnum axis) {
       {
         // Retract Servo endstop if enabled
         if (servo_endstops[axis] > -1)
-          servo[servo_endstops[axis]].write(servo_endstop_angles[axis * 2 + 1]);
+          servo[servo_endstops[axis]].move(0, servo_endstop_angles[axis * 2 + 1]);
       }
     #endif
 
@@ -4354,14 +4336,7 @@ inline void gcode_M226() {
       servo_position = code_value_short();
       if (servo_index >= 0 && servo_index < NUM_SERVOS) {
         Servo *srv = &servo[servo_index];
-        #if SERVO_LEVELING
+        srv->move(0, servo_position);
-          srv->attach(0);
-        #endif
-        srv->write(servo_position);
-        #if SERVO_LEVELING
-          delay(PROBE_SERVO_DEACTIVATION_DELAY);
-          srv->detach();
-        #endif
       }
       else {
         SERIAL_ECHO_START;

Marlin/servo.cpp

@@ -35,6 +35,8 @@
 
  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
+ move(pin, angel) - Sequence of attach(pin), write(angel),
+                    if DEACTIVATE_SERVOS_AFTER_MOVE is defined waits SERVO_DEACTIVATION_DELAY, than detaches.
  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)
  attached()  - Returns true if there is a servo attached.
@@ -301,4 +303,17 @@ int Servo::readMicroseconds() {
 
 bool Servo::attached() { return servos[this->servoIndex].Pin.isActive; }
 
+uint8_t Servo::move(int pin, int value) {
+  uint8_t ret;
+  ret = this->attach(pin);
+  if (ret) {
+    this->write(value);
+    #ifdef DEACTIVATE_SERVOS_AFTER_MOVE && (SERVO_DEACTIVATION_DELAY > 0)
+      delay(SERVO_DEACTIVATION_DELAY);
+      this->detach();
+    #endif
+  }
+  return ret;
+}
+
 #endif

Marlin/servo.h

@@ -40,6 +40,8 @@
    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),
+                      if DEACTIVATE_SERVOS_AFTER_MOVE is defined waits SERVO_DEACTIVATION_DELAY, than detaches.
  */
 
 #ifndef servo_h
@@ -120,6 +122,9 @@ class Servo {
     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
+    uint8_t move(int pin, int value);  // attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure.
+                                       // 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.
     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