【XY-Plotter】Part4：ペンの上下機構実装

[include mainsail.cfg]
[mcu]
serial: /dev/ttyS0
baud: 115200
restart_method: command

[virtual_sdcard]
path: ${/Path/To}/printer_data/gcodes
on_error_gcode: CANCEL_PRINT

[printer]
kinematics: corexy
max_velocity: 4000
max_accel: 4000

[gcode_arcs]
#resolution: 1.0
#   An arc will be split into segments. Each segment's length will
#   equal the resolution in mm set above. Lower values will produce a
#   finer arc, but also more work for your machine. Arcs smaller than
#   the configured value will become straight lines. The default is
#   1mm.


#######################################
## STEPPER
#######################################
[stepper_x]
dir_pin:PD2              # Arduino D02
step_pin:PD5             # Arduino D05
enable_pin:!PB0          # Arduino D08
microsteps: 16
rotation_distance: 40
endstop_pin: ^!PB1       # Arduino D09
position_endstop: 0
position_max: 240
homing_speed: 100.0

[stepper_y]
dir_pin:PD3              # Arduino D03
step_pin:PD6             # Arduino D06
enable_pin:!PB0          # Arduino D08
microsteps: 16
rotation_distance: 40
endstop_pin: ^!PB2       # Arduino D10
position_endstop: 0
position_max: 180
homing_speed: 100.0

[stepper_z]
dir_pin:PD4              # Arduino D04
step_pin:PD7             # Arduino D07
enable_pin:!PB0          # Arduino D08
microsteps: 16
rotation_distance: 40
endstop_pin: ^!PB4       # Arduino D11
position_endstop: 0
position_min: 0
position_max: 1
homing_speed: 1


#######################################
## tool config
#######################################
[include ServoPenTool.cfg]

#######################################
## Pen Servo - MG92B
#######################################
[servo pen_servo]
pin: PB3                        # Arduino D11
minimum_pulse_width: 0.0006     # 0.5ms（MG92B 最小付近から若干マージンを取る）
maximum_pulse_width: 0.0024     # 2.5ms（MG92B 最大付近から若干マージンを取る）
maximum_servo_angle: 180
initial_angle: 120               # 電源投入時の位置

[gcode_macro PEN_UP]
gcode:
    SET_SERVO SERVO=pen_servo ANGLE=120
    G4 P200

[gcode_macro PEN_DOWN]
gcode:
    SET_SERVO SERVO=pen_servo ANGLE=30
    G4 P200

[homing_override]
gcode:
    PEN_UP
    G28xy-plotter_part3_xyaxis_config X Y
axes: xyz
set_position_z: 0.0

#######################################
## Klipper Control
#######################################
[gcode_macro PAUSE]
description: Pause the print and homing
rename_existing: PAUSE_BASE
gcode:
    {% set servo_value = printer["servo pen_servo"].value %}
    RESPOND TYPE=echo MSG="PAUSE servo value: { printer["servo pen_servo"].value }"
    SET_GCODE_VARIABLE MACRO=RESUME VARIABLE=servo_value VALUE={servo_value}
    SAVE_GCODE_STATE NAME=PAUSE_STATE

    PAUSE_BASE
    G90
    PEN_UP
    G1 X 0.0000 Y 0.0000 F4000

[gcode_macro RESUME]
description: Resume the print from the home position
rename_existing: RESUME_BASE
variable_servo_value: 0.0
gcode:
    RESPOND TYPE=echo MSG="RESUME servo value: { printer["servo pen_servo"].value }"
    RESTORE_GCODE_STATE NAME=PAUSE_STATE
    RESUME_BASE
    {% if servo_value < 0.06%}
        PEN_DOWN
    {% else %}
        PEN_UP
    {% endif %}

[gcode_macro CANCEL_PRINT]
description: Cancel the print and home all axes
rename_existing: CANCEL_PRINT_BASE
gcode:
    M82
    G90
    G28
    CANCEL_PRINT_BASE