Upstream
/
esphome-docs
mirror of https://github.com/esphome/esphome-docs.git
1
0
Fork 0
Code Issues Projects Releases Wiki Activity

Add Stepper Support (#68)

This commit is contained in:
Otto Winter 2018-10-26 22:30:24 +02:00 committed by GitHub
parent 8489ec555e
commit 7b68e925d0
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
6 changed files with 245 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

35
api/misc/stepper.rst Normal file
View File

@ -0,0 +1,35 @@
Stepper Component
=================
.. cpp:namespace:: nullptr
API Reference
-------------
.. cpp:namespace:: nullptr
Stepper
*******
.. doxygenclass:: stepper::Stepper
:members:
:protected-members:
:undoc-members:
.. doxygenclass:: stepper::SetTargetAction
:members:
:protected-members:
:undoc-members:
.. doxygenclass:: stepper::ReportPositionAction
:members:
:protected-members:
:undoc-members:
A4988
*****
.. doxygenclass:: stepper::A4988
:members:
:protected-members:
:undoc-members:

164
esphomeyaml/components/stepper/index.rst Normal file
View File

@ -0,0 +1,164 @@
Stepper Component
=================
The ``stepper`` component allows you to use stepper motors with esphomelib.
Currently only the A4988 stepper driver
(`datasheet <https://www.pololu.com/file/0J450/a4988_DMOS_microstepping_driver_with_translator.pdf>`__)
is supported.
.. code:: yaml
# Example configuration entry
stepper:
- platform: a4988
id: my_stepper
step_pin: D0
dir_pin: D1
max_speed: 250 steps/s
# Optional:
sleep_pin: D2
acceleration: inf
deceleration: inf
Configuration variables:
------------------------
- **id** (**Required**, :ref:`config-id`): Specify the ID of the stepper so that you can control it.
- **step_pin** (**Required**, :ref:`Pin Schema <config-pin_schema>`): The ``STEP`` pin of the A4988
stepper driver.
- **dir_pin** (**Required**, :ref:`Pin Schema <config-pin_schema>`): The ``DIRECTION`` pin of the A4988
stepper driver.
- **max_speed** (**Required**, float): The maximum speed in ``steps/s`` (steps per seconds) to drive the
stepper at. Note most steppers can't step properly with speeds higher than 250 steps/s.
- **sleep_pin** (*Optional*, :ref:`Pin Schema <config-pin_schema>`): Optionally also use the ``SLEEP`` pin
of the A4988 stepper driver. If specified, the driver will be put into sleep mode as soon as the stepper
reaches the target steps.
- **acceleration** (*Optional*, float): The acceleration in ``steps/s^2`` (steps per seconds squared)
to use when starting to move. The default is ``inf`` which means infinite acceleration, so the
stepper will try to drive with the full speed immediately.
- **deceleration** (*Optional*, float): The same as ``acceleration``, but for when the motor is decelerating
shortly before reaching the set position. Defaults to ``inf`` (immediate deceleration).
.. note::
Esphomelib's core loop only runs 60 times per second by default to conserve power. But this also means it's limited
to 60 steps per second. To have higher step rater, you have to open up the ``<NODE_NAME>/src/main.cpp`` file,
scroll down to the ``void loop()`` section and remove the ``delay(16);`` line.
.. note::
If the stepper is driving in the wrong direction, you can invert the ``dir_pin``:
.. code:: yaml
stepper:
- platform: a4988
# ...
dir_pin:
number: D1
inverted: True
.. _stepper-set_target_action:
``stepper.set_target`` Action
-----------------------------
To use your stepper motor in :ref:`automations <automation>` or templates, you can use this action to set the target
position (in steps). The stepper will always run towards the target position and stop once it has reached the target.
.. code:: yaml
on_...:
then:
- stepper.set_target:
id: my_stepper
target: 250
# Templated
- stepper.set_target:
id: my_stepper
target: !lambda |-
if (id(my_binary_sensor).value) {
return 1000;
} else {
return -1000;
}
Configuration options:
- **id** (**Required**, :ref:`config-id`): The ID of the stepper.
- **target** (*Optional*, int, :ref:`templatable <config-templatable>`): The target position in steps.
.. note::
This action can also be expressed as a :ref:`lambda <config-lambda>`:
.. code:: cpp
id(my_stepper).set_target(250);
// Get the currently set target position:
int target = id(my_stepper).target_position;
.. _stepper-report_position_action:
``stepper.report_position`` Action
----------------------------------
All steppers start out with a target and current position of ``0`` on boot. However, if you for example want to home
a stepper motor, it can be useful to **report** the stepper where it is currently at.
With this action, you can set the stepper's internal position counter to a specific value (in steps). Please note
that reporting the position can create unexpected moves of the stepper. For example, if the stepper's target and
current position is at 1000 steps and you "report" a position of 0, the stepper will move 1000 steps forward to match
the target again.
.. code:: yaml
on_...:
then:
- stepper.report_position:
id: my_stepper
position: 250
# It's best to call set_target directly after report_position, so that the stepper doesn't move
- stepper.set_target:
id: my_stepper
target: 250
# Templated
- stepper.report_position:
id: my_stepper
position: !lambda |-
if (id(my_binary_sensor).value) {
return 0;
} else {
return -1000;
}
Configuration options:
- **id** (**Required**, :ref:`config-id`): The ID of the stepper.
- **target** (*Optional*, int, :ref:`templatable <config-templatable>`): The target position in steps.
.. note::
This action can also be expressed as a :ref:`lambda <config-lambda>`:
.. code:: cpp
id(my_stepper).report_position(250);
// Get the current position:
int pos = id(my_stepper).current_position;
See Also
--------
- :doc:`API Reference </api/misc/stepper>`
- `Edit this page on GitHub <https://github.com/OttoWinter/esphomedocs/blob/current/esphomeyaml/components/stepper.rst>`__
.. disqus::

9
esphomeyaml/components/switch/index.rst
View File

@ -37,8 +37,7 @@ This action toggles a switch with the given ID when executed.
on_...:
then:
- switch.toggle:
id: relay_1
- switch.toggle: id: relay_1
.. _switch-turn_on_action:
@ -51,8 +50,7 @@ This action turns a switch with the given ID on when executed.
on_...:
then:
- switch.turn_on:
id: relay_1
- switch.turn_on: relay_1
.. _switch-turn_off_action:
@ -65,8 +63,7 @@ This action turns a switch with the given ID off when executed.
on_...:
then:
- switch.turn_off:
id: relay_1
- switch.turn_off: relay_1
lambda calls
************

36
esphomeyaml/images/stepper.svg Normal file
View File

@ -0,0 +1,36 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<svg
xmlns:dc="http://purl.org/dc/elements/1.1/"
xmlns:cc="http://creativecommons.org/ns#"
xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
xmlns:svg="http://www.w3.org/2000/svg"
xmlns="http://www.w3.org/2000/svg"
viewBox="0 0 280 60"
height="60"
width="280"
xml:space="preserve"
id="svg2"
version="1.1"><metadata
id="metadata8"><rdf:RDF><cc:Work
rdf:about=""><dc:format>image/svg+xml</dc:format><dc:type
rdf:resource="http://purl.org/dc/dcmitype/StillImage" /></cc:Work></rdf:RDF></metadata><defs
id="defs6" /><g
transform="matrix(1.3333333,0,0,-1.3333333,0,60)"
id="g10"><g
transform="scale(0.1)"
id="g12"><path
id="path14"
style="fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none"
d="M 151.832,440 H 1948.17 c 77.32,0 140,-62.68 140,-140 V 145 c 0,-77.3203 -62.68,-140 -140,-140 H 151.832 c -77.3203,0 -140,62.6797 -140,140 v 155 c 0,77.32 62.6797,140 140,140 z" /><path
id="path16"
style="fill:none;stroke:#000000;stroke-width:10;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:10;stroke-dasharray:none;stroke-opacity:1"
d="M 151.832,440 H 1948.17 c 77.32,0 140,-62.68 140,-140 V 145 c 0,-77.3203 -62.68,-140 -140,-140 H 151.832 c -77.3164,0 -140,62.6797 -140,140 v 155 c 0,77.32 62.6836,140 140,140 z" /><g
transform="scale(10)"
id="g18"><text
id="text22"
style="font-variant:normal;font-weight:900;font-size:35px;font-family:Montserrat;-inkscape-font-specification:Montserrat-Black;writing-mode:lr-tb;fill:#ffffff;fill-opacity:1;fill-rule:nonzero;stroke:none"
transform="matrix(1,0,0,-1,9.48516,9.75)"><tspan
id="tspan20"
y="0"
x="0 25.645 51.535 78.090004 106.74499 135.39999 161.95499">STEPPER</tspan></text>
</g></g></g></svg>
Side by Side

After

Width:  |  Height:  |  Size: 1.9 KiB

8
esphomeyaml/index.rst
View File

@ -681,9 +681,9 @@ Misc Components
-------------------------------------------------- -------------------------------------------------- --------------------------------------------------
`ESP32 Touch Hub`_ `Status LED`_ `PN532`_
-------------------------------------------------- -------------------------------------------------- --------------------------------------------------
|RDM6300|_ |Time|_
|RDM6300|_ |Time|_ |Stepper|_
-------------------------------------------------- -------------------------------------------------- --------------------------------------------------
`RDM6300`_ `Time`_
`RDM6300`_ `Time`_ `Stepper`_
================================================== ================================================== ==================================================
.. |Dallas Hub| image:: /esphomeyaml/images/dallas.jpg
@ -728,6 +728,10 @@ Misc Components
.. |Time| image:: /esphomeyaml/images/clock-outline.svg
:class: component-image
.. _Time: /esphomeyaml/components/time.html
.. |Stepper| image:: /esphomeyaml/images/stepper.svg
:class: component-image
.. _Stepper: /esphomeyaml/components/stepper.html
.. _cookbook:

1
esphomeyaml/misc.csv
View File

@ -12,3 +12,4 @@ Status LED, components/status_led, led-on.svg
PN532, components/pn532, pn532.jpg
RDM6300, components/rdm6300, rdm6300.jpg
Time, components/time, clock-outline.svg
Stepper, components/stepper, stepper.svg

1 Dallas Hub components/dallas dallas.jpg
12 PN532 components/pn532 pn532.jpg
13 RDM6300 components/rdm6300 rdm6300.jpg
14 Time components/time clock-outline.svg
15 Stepper components/stepper stepper.svg