Stepper Component ================= .. seo:: :description: Instructions for setting up stepper motor drivers in ESPHome :image: folder-open.png :keywords: stepper motor, stepper driver, a4988 The ``stepper`` component allows you to use stepper motors with ESPHome. Currently only the A4988 stepper driver (`datasheet `__) and ULN2003 (`datasheet `__) are supported. .. note:: This component will not show up in the Home Assistant front-end automatically because Home Assistant doesn't have support for steppers. Please see :ref:`stepper-ha-config`. A4988 Configuration ------------------- .. code-block:: 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 `): The ``STEP`` pin of the A4988 stepper driver. - **dir_pin** (**Required**, :ref:`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 `): 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:: If the stepper is driving in the wrong direction, you can invert the ``dir_pin``: .. code-block:: yaml stepper: - platform: a4988 # ... dir_pin: number: D1 inverted: True ULN2003 Configuration --------------------- .. code-block:: yaml # Example configuration entry stepper: - platform: uln2003 id: my_stepper pin_a: D0 pin_b: D1 pin_c: D2 pin_d: D3 max_speed: 250 steps/s # Optional: acceleration: inf deceleration: inf Configuration variables: - **id** (**Required**, :ref:`config-id`): Specify the ID of the stepper so that you can control it. - **pin_a**, **pin_b**, **pin_c**, **pin_d** (**Required**, :ref:`Pin Schema `): The four pins of the stepper control board. - **sleep_when_done** (*Optional*, boolean): Whether to turn off all coils when the stepper has reached the target position - **step_mode** (*Optional*, string): The step mode to operate the motor with. One of: - ``FULL_STEP`` (Default) - ``HALF_STEP`` - ``WAVE_DRIVE`` - **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. - **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). .. _stepper-set_target_action: ``stepper.set_target`` Action ----------------------------- To use your stepper motor in :ref:`automations ` 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-block:: 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).state) { return 1000; } else { return -1000; } Configuration options: - **id** (**Required**, :ref:`config-id`): The ID of the stepper. - **target** (*Optional*, int, :ref:`templatable `): The target position in steps. .. warning:: This turns the stepper to an absolute position! To have the servo move *relative* to the current position, first reset the current position and then set the target to the relative value. .. code-block:: yaml on_...: then: # Move 150 steps forward - stepper.report_position: id: my_stepper position: 0 - stepper:set_target: id: my_stepper target: 150 .. note:: This action can also be expressed as a :ref:`lambda `: .. code-block:: 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-block:: 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).state) { return 0; } else { return -1000; } Configuration options: - **id** (**Required**, :ref:`config-id`): The ID of the stepper. - **target** (*Optional*, int, :ref:`templatable `): The target position in steps. .. note:: This action can also be expressed as a :ref:`lambda `: .. code-block:: cpp id(my_stepper).report_position(250); // Get the current position: int pos = id(my_stepper).current_position; .. _stepper-ha-config: Home Assistant Configuration ---------------------------- This component will not show up in the Home Assistant frontend automatically because Home Assistant does not support steppers natively (raise this issue in Home Assistant forums to make this a higher priority for Home Assistant). You can add this to your Home Assistant configuration to be able to control the stepper from the frontend. .. code-block:: yaml # Home Assistant configuration input_number: stepper_control: name: Stepper Control initial: 0 min: -1000 max: 1000 step: 1 mode: slider automation: - alias: Write Stepper Value to ESP trigger: platform: state entity_id: input_number.stepper_control action: # Replace livingroom with the name you gave the ESP - service: esphome.livingroom_control_stepper data_template: target: '{{ trigger.to_state.state | int }}' .. code-block:: yaml # ESPHome configuration api: services: - service: control_stepper variables: target: int then: - stepper.set_target: id: my_stepper target: !lambda 'return target;' stepper: - platform: ... # [...] stepper config id: my_stepper See Also -------- - :apiref:`stepper/stepper.h` - :ghedit:`Edit` .. disqus::