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1 files changed, 54 insertions, 0 deletions

diff --git a/Marlin/src/HAL/TEENSY31_32/Servo.cpp b/Marlin/src/HAL/TEENSY31_32/Servo.cpp
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+++ b/Marlin/src/HAL/TEENSY31_32/Servo.cpp
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+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#ifdef __MK20DX256__
+
+#include "../../inc/MarlinConfig.h"
+
+#if HAS_SERVOS
+
+#include "Servo.h"
+
+uint8_t servoPin[MAX_SERVOS] = { 0 };
+
+int8_t libServo::attach(const int inPin) {
+  if (servoIndex >= MAX_SERVOS) return -1;
+  if (inPin > 0) servoPin[servoIndex] = inPin;
+  return super::attach(servoPin[servoIndex]);
+}
+
+int8_t libServo::attach(const int inPin, const int inMin, const int inMax) {
+  if (inPin > 0) servoPin[servoIndex] = inPin;
+  return super::attach(servoPin[servoIndex], inMin, inMax);
+}
+
+void libServo::move(const int value) {
+  constexpr uint16_t servo_delay[] = SERVO_DELAY;
+  static_assert(COUNT(servo_delay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");
+  if (attach(0) >= 0) {
+    write(value);
+    safe_delay(servo_delay[servoIndex]);
+    TERN_(DEACTIVATE_SERVOS_AFTER_MOVE, detach());
+  }
+}
+
+#endif // HAS_SERVOS
+#endif // __MK20DX256__