1 files changed, 55 insertions, 0 deletions
diff --git a/Marlin/src/gcode/control/M280.cpp b/Marlin/src/gcode/control/M280.cpp
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+++ b/Marlin/src/gcode/control/M280.cpp
@@ -0,0 +1,55 @@
+/**
+ * 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/>.
+ *
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if HAS_SERVOS
+
+#include "../gcode.h"
+#include "../../module/servo.h"
+
+/**
+ * M280: Get or set servo position. P<index> [S<angle>]
+ */
+void GcodeSuite::M280() {
+  if (!parser.seen('P')) return;
+  const int servo_index = parser.value_int();
+  if (WITHIN(servo_index, 0, NUM_SERVOS - 1)) {
+    if (parser.seen('S')) {
+      const int a = parser.value_int();
+      if (a == -1)
+        servo[servo_index].detach();
+      else
+        MOVE_SERVO(servo_index, a);
+    }
+    else {
+      SERIAL_ECHO_START();
+      SERIAL_ECHOLNPAIR(" Servo ", servo_index, ": ", servo[servo_index].read());
+    }
+  }
+  else {
+    SERIAL_ERROR_START();
+    SERIAL_ECHOLNPAIR("Servo ", servo_index, " out of range");
+  }
+}
+
+#endif // HAS_SERVOS