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Add Stepper Support (#68)
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Otto Winter
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35
api/misc/stepper.rst
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35
api/misc/stepper.rst
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Stepper Component
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=================
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.. cpp:namespace:: nullptr
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API Reference
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-------------
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.. cpp:namespace:: nullptr
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Stepper
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*******
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.. doxygenclass:: stepper::Stepper
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:members:
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:protected-members:
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:undoc-members:
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.. doxygenclass:: stepper::SetTargetAction
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:members:
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:protected-members:
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:undoc-members:
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.. doxygenclass:: stepper::ReportPositionAction
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:members:
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:protected-members:
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:undoc-members:
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A4988
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*****
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.. doxygenclass:: stepper::A4988
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:members:
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:protected-members:
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:undoc-members:
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164
esphomeyaml/components/stepper/index.rst
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164
esphomeyaml/components/stepper/index.rst
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Stepper Component
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=================
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The ``stepper`` component allows you to use stepper motors with esphomelib.
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Currently only the A4988 stepper driver
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(`datasheet <https://www.pololu.com/file/0J450/a4988_DMOS_microstepping_driver_with_translator.pdf>`__)
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is supported.
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.. code:: yaml
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# Example configuration entry
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stepper:
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- platform: a4988
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id: my_stepper
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step_pin: D0
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dir_pin: D1
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max_speed: 250 steps/s
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# Optional:
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sleep_pin: D2
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acceleration: inf
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deceleration: inf
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Configuration variables:
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------------------------
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- **id** (**Required**, :ref:`config-id`): Specify the ID of the stepper so that you can control it.
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- **step_pin** (**Required**, :ref:`Pin Schema <config-pin_schema>`): The ``STEP`` pin of the A4988
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stepper driver.
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- **dir_pin** (**Required**, :ref:`Pin Schema <config-pin_schema>`): The ``DIRECTION`` pin of the A4988
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stepper driver.
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- **max_speed** (**Required**, float): The maximum speed in ``steps/s`` (steps per seconds) to drive the
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stepper at. Note most steppers can't step properly with speeds higher than 250 steps/s.
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- **sleep_pin** (*Optional*, :ref:`Pin Schema <config-pin_schema>`): Optionally also use the ``SLEEP`` pin
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of the A4988 stepper driver. If specified, the driver will be put into sleep mode as soon as the stepper
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reaches the target steps.
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- **acceleration** (*Optional*, float): The acceleration in ``steps/s^2`` (steps per seconds squared)
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to use when starting to move. The default is ``inf`` which means infinite acceleration, so the
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stepper will try to drive with the full speed immediately.
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- **deceleration** (*Optional*, float): The same as ``acceleration``, but for when the motor is decelerating
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shortly before reaching the set position. Defaults to ``inf`` (immediate deceleration).
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.. note::
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Esphomelib's core loop only runs 60 times per second by default to conserve power. But this also means it's limited
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to 60 steps per second. To have higher step rater, you have to open up the ``<NODE_NAME>/src/main.cpp`` file,
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scroll down to the ``void loop()`` section and remove the ``delay(16);`` line.
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.. note::
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If the stepper is driving in the wrong direction, you can invert the ``dir_pin``:
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.. code:: yaml
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stepper:
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- platform: a4988
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# ...
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dir_pin:
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number: D1
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inverted: True
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.. _stepper-set_target_action:
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``stepper.set_target`` Action
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-----------------------------
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To use your stepper motor in :ref:`automations <automation>` or templates, you can use this action to set the target
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position (in steps). The stepper will always run towards the target position and stop once it has reached the target.
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.. code:: yaml
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on_...:
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then:
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- stepper.set_target:
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id: my_stepper
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target: 250
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# Templated
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- stepper.set_target:
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id: my_stepper
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target: !lambda |-
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if (id(my_binary_sensor).value) {
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return 1000;
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} else {
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return -1000;
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}
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Configuration options:
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- **id** (**Required**, :ref:`config-id`): The ID of the stepper.
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- **target** (*Optional*, int, :ref:`templatable <config-templatable>`): The target position in steps.
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.. note::
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This action can also be expressed as a :ref:`lambda <config-lambda>`:
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.. code:: cpp
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id(my_stepper).set_target(250);
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// Get the currently set target position:
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int target = id(my_stepper).target_position;
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.. _stepper-report_position_action:
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``stepper.report_position`` Action
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----------------------------------
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All steppers start out with a target and current position of ``0`` on boot. However, if you for example want to home
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a stepper motor, it can be useful to **report** the stepper where it is currently at.
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With this action, you can set the stepper's internal position counter to a specific value (in steps). Please note
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that reporting the position can create unexpected moves of the stepper. For example, if the stepper's target and
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current position is at 1000 steps and you "report" a position of 0, the stepper will move 1000 steps forward to match
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the target again.
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.. code:: yaml
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on_...:
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then:
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- stepper.report_position:
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id: my_stepper
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position: 250
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# It's best to call set_target directly after report_position, so that the stepper doesn't move
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- stepper.set_target:
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id: my_stepper
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target: 250
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# Templated
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- stepper.report_position:
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id: my_stepper
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position: !lambda |-
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if (id(my_binary_sensor).value) {
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return 0;
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} else {
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return -1000;
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}
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Configuration options:
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- **id** (**Required**, :ref:`config-id`): The ID of the stepper.
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- **target** (*Optional*, int, :ref:`templatable <config-templatable>`): The target position in steps.
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.. note::
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This action can also be expressed as a :ref:`lambda <config-lambda>`:
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.. code:: cpp
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id(my_stepper).report_position(250);
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// Get the current position:
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int pos = id(my_stepper).current_position;
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See Also
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--------
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- :doc:`API Reference </api/misc/stepper>`
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- `Edit this page on GitHub <https://github.com/OttoWinter/esphomedocs/blob/current/esphomeyaml/components/stepper.rst>`__
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.. disqus::
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@ -37,8 +37,7 @@ This action toggles a switch with the given ID when executed.
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on_...:
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then:
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- switch.toggle:
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id: relay_1
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- switch.toggle: id: relay_1
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.. _switch-turn_on_action:
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@ -51,8 +50,7 @@ This action turns a switch with the given ID on when executed.
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on_...:
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then:
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- switch.turn_on:
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id: relay_1
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- switch.turn_on: relay_1
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.. _switch-turn_off_action:
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@ -65,8 +63,7 @@ This action turns a switch with the given ID off when executed.
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on_...:
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then:
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- switch.turn_off:
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id: relay_1
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- switch.turn_off: relay_1
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lambda calls
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************
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36
esphomeyaml/images/stepper.svg
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36
esphomeyaml/images/stepper.svg
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<?xml version="1.0" encoding="UTF-8" standalone="no"?>
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<svg
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xmlns:dc="http://purl.org/dc/elements/1.1/"
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xmlns:cc="http://creativecommons.org/ns#"
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xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
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xmlns:svg="http://www.w3.org/2000/svg"
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xmlns="http://www.w3.org/2000/svg"
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viewBox="0 0 280 60"
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height="60"
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width="280"
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xml:space="preserve"
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id="svg2"
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version="1.1"><metadata
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id="metadata8"><rdf:RDF><cc:Work
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rdf:about=""><dc:format>image/svg+xml</dc:format><dc:type
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rdf:resource="http://purl.org/dc/dcmitype/StillImage" /></cc:Work></rdf:RDF></metadata><defs
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id="defs6" /><g
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transform="matrix(1.3333333,0,0,-1.3333333,0,60)"
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id="g10"><g
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transform="scale(0.1)"
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id="g12"><path
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id="path14"
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style="fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none"
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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
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id="path16"
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style="fill:none;stroke:#000000;stroke-width:10;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:10;stroke-dasharray:none;stroke-opacity:1"
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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
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transform="scale(10)"
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id="g18"><text
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id="text22"
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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"
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transform="matrix(1,0,0,-1,9.48516,9.75)"><tspan
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id="tspan20"
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y="0"
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x="0 25.645 51.535 78.090004 106.74499 135.39999 161.95499">STEPPER</tspan></text>
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</g></g></g></svg>
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After Width: | Height: | Size: 1.9 KiB |
@ -681,9 +681,9 @@ Misc Components
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-------------------------------------------------- -------------------------------------------------- --------------------------------------------------
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`ESP32 Touch Hub`_ `Status LED`_ `PN532`_
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-------------------------------------------------- -------------------------------------------------- --------------------------------------------------
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|RDM6300|_ |Time|_
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|RDM6300|_ |Time|_ |Stepper|_
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-------------------------------------------------- -------------------------------------------------- --------------------------------------------------
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`RDM6300`_ `Time`_
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`RDM6300`_ `Time`_ `Stepper`_
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================================================== ================================================== ==================================================
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.. |Dallas Hub| image:: /esphomeyaml/images/dallas.jpg
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@ -728,6 +728,10 @@ Misc Components
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.. |Time| image:: /esphomeyaml/images/clock-outline.svg
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:class: component-image
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.. _Time: /esphomeyaml/components/time.html
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.. |Stepper| image:: /esphomeyaml/images/stepper.svg
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:class: component-image
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.. _Stepper: /esphomeyaml/components/stepper.html
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.. _cookbook:
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@ -12,3 +12,4 @@ Status LED, components/status_led, led-on.svg
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PN532, components/pn532, pn532.jpg
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RDM6300, components/rdm6300, rdm6300.jpg
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Time, components/time, clock-outline.svg
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Stepper, components/stepper, stepper.svg
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