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399 lines
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399 lines
14 KiB
ReStructuredText
Stepper Component
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=================
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.. seo::
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:description: Instructions for setting up stepper motor drivers in ESPHome
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:image: folder-open.svg
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:keywords: stepper motor, stepper driver, a4988
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The ``stepper`` component allows you to use stepper motors with ESPHome.
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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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and ULN2003 (`datasheet <http://www.ti.com/lit/ds/symlink/uln2003a.pdf>`__) are supported.
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.. note::
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This component will not show up in the Home Assistant front-end automatically because
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Home Assistant doesn't have support for steppers. Please see :ref:`stepper-ha-config`.
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.. _base_stepper_config:
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Base Stepper Configuration
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--------------------------
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All stepper configuration schemas inherit these options.
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Configuration variables:
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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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- **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. This value is helpful if that first motion of
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the motor is too jerky for what it's moving. If you make this a small number, it will take the motor a
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moment to get up to speed.
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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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A4988 Component
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---------------
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Put this code into the configuration file on ESPHome for this device.
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.. code-block:: yaml
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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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- **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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- **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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- All other from :ref:`base_stepper_config`.
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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-block:: 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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ULN2003 Component
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-----------------
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Put this code into the configuration file on ESPHome for this device.
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.. code-block:: yaml
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# Example configuration entry
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stepper:
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- platform: uln2003
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id: my_stepper
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pin_a: D0
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pin_b: D1
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pin_c: D2
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pin_d: D3
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max_speed: 250 steps/s
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# Optional:
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acceleration: inf
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deceleration: inf
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Configuration variables:
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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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- **pin_a** (**Required**, :ref:`Pin Schema <config-pin_schema>`): The pin **a** of the stepper control board.
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- **pin_b** (**Required**, :ref:`Pin Schema <config-pin_schema>`): The pin **b** of the stepper control board.
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- **pin_c** (**Required**, :ref:`Pin Schema <config-pin_schema>`): The pin **c** of the stepper control board.
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- **pin_d** (**Required**, :ref:`Pin Schema <config-pin_schema>`): The pin **d** of the stepper control board.
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- **sleep_when_done** (*Optional*, boolean): Whether to turn off all coils when the stepper has
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reached the target position
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- **step_mode** (*Optional*, string): The step mode to operate the motor with. One of:
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- ``FULL_STEP`` (Default)
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- ``HALF_STEP``
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- ``WAVE_DRIVE``
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- All other from :ref:`base_stepper_config`.
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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-block:: 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).state) {
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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** (**Required**, int, :ref:`templatable <config-templatable>`): The target position in steps.
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.. warning::
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This turns the stepper to an absolute position! To have the servo move *relative* to the current
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position, first reset the current position and then set the target to the relative value.
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.. code-block:: yaml
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on_...:
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then:
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# Move 150 steps forward
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- stepper.report_position:
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id: my_stepper
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position: 0
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- stepper.set_target:
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id: my_stepper
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target: 150
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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-block:: 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).state) {
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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 variables:
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- **id** (**Required**, :ref:`config-id`): The ID of the stepper.
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- **position** (**Required**, int, :ref:`templatable <config-templatable>`): The position to report in steps.
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.. _stepper-set_speed_action:
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``stepper.set_speed`` Action
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----------------------------
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This :ref:`Action <config-action>` allows you to set the speed of a stepper at runtime.
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.. code-block:: yaml
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on_...:
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- stepper.set_speed:
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id: my_stepper
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speed: 250 steps/s
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Configuration variables:
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- **id** (**Required**, :ref:`config-id`): The ID of the stepper.
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- **speed** (**Required**, :ref:`templatable <config-templatable>`, float): The speed
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in ``steps/s`` (steps per seconds) to drive the stepper at.
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.. _stepper-set_acceleration_action:
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``stepper.set_acceleration`` Action
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-----------------------------------
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This :ref:`Action <config-action>` allows you to set the acceleration of a stepper at runtime.
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.. code-block:: yaml
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on_...:
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- stepper.set_acceleration:
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id: my_stepper
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speed: 250 steps/s^2
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Configuration variables:
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- **id** (**Required**, :ref:`config-id`): The ID of the stepper.
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- **acceleration** (**Required**, :ref:`templatable <config-templatable>`, float): The acceleration
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in ``steps/s^2`` (steps per seconds squared) to use when starting to move.
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.. _stepper-set_deceleration_action:
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``stepper.set_deceleration`` Action
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-----------------------------------
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This :ref:`Action <config-action>` allows you to set the deceleration of a stepper at runtime.
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.. code-block:: yaml
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on_...:
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- stepper.set_deceleration:
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id: my_stepper
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speed: 250 steps/s^2
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Configuration variables:
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- **id** (**Required**, :ref:`config-id`): The ID of the stepper.
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- **deceleration** (**Required**, :ref:`templatable <config-templatable>`, float): The same as ``acceleration``,
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but for when the motor is decelerating shortly before reaching the set position.
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.. _stepper-ha-config:
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Home Assistant Configuration
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----------------------------
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This component will not show up in the Home Assistant front-end (Overview) automatically because
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Home Assistant does not support steppers natively.
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You can add the stepper component code below to your Home Assistant configuration (``configuration.yaml``) to
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be able to control the stepper from the front-end.
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.. code-block:: yaml
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# Add a slider control to Home Assistant to set an integer value
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input_number:
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stepper_control:
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name: Stepper Control
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initial: 0
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min: -1000
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max: 1000
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step: 1
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mode: slider
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# Do something when the slider changes
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automation:
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- alias: Write Stepper Value to ESP
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trigger:
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platform: state
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entity_id: input_number.stepper_control
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action:
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# Replace livingroom with the name you gave the ESP
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- service: esphome.livingroom_control_stepper
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data_template:
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target: '{{ trigger.to_state.state | int }}'
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In the above code, "stepper_control" is the ID of a numeric input field. It must be unique and it is
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used in the automation section as a reference name. The display name for this field is in
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stepper_control's ``name`` key.
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If you want your user interface to give you more control over your stepper controller, such as
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setting the acceleration, deceleration, etc, then you can add more input fields after ``stepper_control``
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but before ``automation``. They can be a simple number-entry field (mode: box) or a slider like this.
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Each of these extra input fields needs an associated input parameter defined on the ESPHome device's
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API service.
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The automation section tells Home Assistant what to do when the slider changes. It needs a trigger
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(state of the ``stepper_control`` slider) and an action. In the trigger section, ``entity_id`` must refer
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back to the configuration ID that triggers the automation. For us, that is the ``stepper_control``
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field in the ``input_number`` item. That's why the value is ``input_number.stepper_control``.
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In the action section, the service name is vital to get right: it's the glue that connects Home Automation's
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front-end to the ESPHome device configuration. While you might expect the syntax to be ``esphome.<your_device>.<api_service>``,
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the correct syntax is to join the device ID to the API service ID with an underscore,
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as in ``esphome.livingroom_control_stepper`` where "Livingroom" is a device in ESPHome and "control_stepper" is an
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API service for that device.
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The template string is used to get the "state" value from the ``target`` field (defined in the target section) on the
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``input_number`` component of the Home Assistant front-end. This value is then passed to the API service as defined in
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the ESPHome device's configuration. The ``data_template`` section lists one value for each of the input parameters on
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the service being called by the automation. In our case, the ESPHome device has an API service with a single parameter,
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"target". If you called this "my_target", then the last line above should be ``my_target: '{{ trigger.to_state.state | int }}'``.
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Getting this linkage right is very important.
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The following code needs to go in the ESPHome configuration file for this device. Above, we mention "API service"
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a lot. This code is where that is defined. You may have already added it (or something similar). Note
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that the input variable for the ``control_stepper`` service is called ``target``. That's what matches with the
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automation configuration above. Also note that the variable ``target`` is defined as an integer. That means it
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must be an integer number, not a string.
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.. code-block:: yaml
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# ESPHome configuration
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api:
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services:
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- service: control_stepper
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variables:
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target: int
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then:
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- stepper.set_target:
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id: my_stepper
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target: !lambda 'return target;'
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stepper:
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- platform: ...
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# [...] stepper config
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id: my_stepper
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.. _stepper-lambda_calls:
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lambda calls
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------------
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From :ref:`lambdas <config-lambda>`, you can call several methods on stepper motors to do some
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advanced stuff (see the full API Reference for more info).
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- ``set_target``: Set the target position of the motor as an integer.
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.. code-block:: cpp
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// Argument is integer (signed int)
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// Set the (absolute) target position to 250 steps
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id(my_stepper).set_target(250);
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- ``report_position``: Report the current position as an integer.
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.. code-block:: cpp
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// Report the (absolute) current position as 250 steps
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id(my_stepper).report_position(250);
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- ``current_position``: Get the current position of the stepper as an integer.
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.. code-block:: cpp
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int pos = id(my_stepper).current_position;
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- ``target_position``: Get the set target position of the stepper as an integer.
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.. code-block:: cpp
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int pos = id(my_stepper).target_position;
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See Also
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--------
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- :apiref:`stepper/stepper.h`
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- :ghedit:`Edit`
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