From 79b9d0579d3a02c88afd57115400ec7fa000288f Mon Sep 17 00:00:00 2001 From: WeekendWarrior1 Date: Mon, 5 Jul 2021 11:22:43 +1000 Subject: [PATCH] Add stepper.set_acceleration and stepper.set_deceleration to stepper component (#1977) --- esphome/components/stepper/__init__.py | 40 +++++++++++++++++++++++++- esphome/components/stepper/stepper.h | 30 +++++++++++++++++++ 2 files changed, 69 insertions(+), 1 deletion(-) diff --git a/esphome/components/stepper/__init__.py b/esphome/components/stepper/__init__.py index 41b1db7df2..54f6aa4205 100644 --- a/esphome/components/stepper/__init__.py +++ b/esphome/components/stepper/__init__.py @@ -21,6 +21,8 @@ Stepper = stepper_ns.class_("Stepper") SetTargetAction = stepper_ns.class_("SetTargetAction", automation.Action) ReportPositionAction = stepper_ns.class_("ReportPositionAction", automation.Action) SetSpeedAction = stepper_ns.class_("SetSpeedAction", automation.Action) +SetAccelerationAction = stepper_ns.class_("SetAccelerationAction", automation.Action) +SetDecelerationAction = stepper_ns.class_("SetDecelerationAction", automation.Action) def validate_acceleration(value): @@ -138,11 +140,47 @@ async def stepper_report_position_to_code(config, action_id, template_arg, args) async def stepper_set_speed_to_code(config, action_id, template_arg, args): paren = await cg.get_variable(config[CONF_ID]) var = cg.new_Pvariable(action_id, template_arg, paren) - template_ = await cg.templatable(config[CONF_SPEED], args, cg.int32) + template_ = await cg.templatable(config[CONF_SPEED], args, cg.float_) cg.add(var.set_speed(template_)) return var +@automation.register_action( + "stepper.set_acceleration", + SetAccelerationAction, + cv.Schema( + { + cv.Required(CONF_ID): cv.use_id(Stepper), + cv.Required(CONF_ACCELERATION): cv.templatable(validate_acceleration), + } + ), +) +async def stepper_set_acceleration_to_code(config, action_id, template_arg, args): + paren = await cg.get_variable(config[CONF_ID]) + var = cg.new_Pvariable(action_id, template_arg, paren) + template_ = await cg.templatable(config[CONF_ACCELERATION], args, cg.float_) + cg.add(var.set_acceleration(template_)) + return var + + +@automation.register_action( + "stepper.set_deceleration", + SetDecelerationAction, + cv.Schema( + { + cv.Required(CONF_ID): cv.use_id(Stepper), + cv.Required(CONF_DECELERATION): cv.templatable(validate_acceleration), + } + ), +) +async def stepper_set_deceleration_to_code(config, action_id, template_arg, args): + paren = await cg.get_variable(config[CONF_ID]) + var = cg.new_Pvariable(action_id, template_arg, paren) + template_ = await cg.templatable(config[CONF_DECELERATION], args, cg.float_) + cg.add(var.set_deceleration(template_)) + return var + + @coroutine_with_priority(100.0) async def to_code(config): cg.add_global(stepper_ns.using) diff --git a/esphome/components/stepper/stepper.h b/esphome/components/stepper/stepper.h index 33777dce83..560362e4d0 100644 --- a/esphome/components/stepper/stepper.h +++ b/esphome/components/stepper/stepper.h @@ -77,5 +77,35 @@ template class SetSpeedAction : public Action { Stepper *parent_; }; +template class SetAccelerationAction : public Action { + public: + explicit SetAccelerationAction(Stepper *parent) : parent_(parent) {} + + TEMPLATABLE_VALUE(float, acceleration); + + void play(Ts... x) override { + float acceleration = this->acceleration_.value(x...); + this->parent_->set_acceleration(acceleration); + } + + protected: + Stepper *parent_; +}; + +template class SetDecelerationAction : public Action { + public: + explicit SetDecelerationAction(Stepper *parent) : parent_(parent) {} + + TEMPLATABLE_VALUE(float, deceleration); + + void play(Ts... x) override { + float deceleration = this->deceleration_.value(x...); + this->parent_->set_deceleration(deceleration); + } + + protected: + Stepper *parent_; +}; + } // namespace stepper } // namespace esphome