Add Stepper Motor Support (#206)

* Add stepper support

* Fix output set_level

* Lint

esphomeyaml/components/output/__init__.py

@@ -5,7 +5,7 @@ import esphomeyaml.config_validation as cv
 from esphomeyaml.components.power_supply import PowerSupplyComponent
 from esphomeyaml.const import CONF_INVERTED, CONF_MAX_POWER, CONF_POWER_SUPPLY, CONF_ID, CONF_LEVEL
 from esphomeyaml.helpers import add, esphomelib_ns, get_variable, TemplateArguments, Pvariable, \
-    templatable, bool_
+    templatable, float_
 
 PLATFORM_SCHEMA = cv.PLATFORM_SCHEMA.extend({
 
@@ -85,7 +85,7 @@ def output_turn_off_to_code(config, action_id, arg_type):
 CONF_OUTPUT_SET_LEVEL = 'output.set_level'
 OUTPUT_SET_LEVEL_ACTION = vol.Schema({
     vol.Required(CONF_ID): cv.use_variable_id(None),
-    vol.Required(CONF_LEVEL): cv.percentage,
+    vol.Required(CONF_LEVEL): cv.templatable(cv.percentage),
 })
 
 
@@ -97,7 +97,7 @@ def output_set_level_to_code(config, action_id, arg_type):
     rhs = var.make_set_level_action(template_arg)
     type = SetLevelAction.template(arg_type)
     action = Pvariable(action_id, rhs, type=type)
-    for template_ in templatable(config[CONF_LEVEL], arg_type, bool_):
+    for template_ in templatable(config[CONF_LEVEL], arg_type, float_):
         yield None
     add(action.set_level(template_))
     yield action

esphomeyaml/components/stepper/__init__.py

@@ -0,0 +1,126 @@
+import voluptuous as vol
+
+from esphomeyaml.automation import ACTION_REGISTRY
+import esphomeyaml.config_validation as cv
+from esphomeyaml.const import CONF_ACCELERATION, CONF_DECELERATION, CONF_ID, CONF_MAX_SPEED, \
+    CONF_POSITION, CONF_TARGET
+from esphomeyaml.helpers import Pvariable, TemplateArguments, add, add_job, esphomelib_ns, \
+    get_variable, int32, templatable
+
+PLATFORM_SCHEMA = cv.PLATFORM_SCHEMA.extend({
+
+})
+
+# pylint: disable=invalid-name
+stepper_ns = esphomelib_ns.namespace('stepper')
+Stepper = stepper_ns.Stepper
+
+SetTargetAction = stepper_ns.SetTargetAction
+ReportPositionAction = stepper_ns.ReportPositionAction
+
+
+def validate_acceleration(value):
+    value = cv.string(value)
+    for suffix in ('steps/s^2', 'steps/s*s', 'steps/s/s', 'steps/ss', 'steps/(s*s)'):
+        if value.endswith(suffix):
+            value = value[:-len(suffix)]
+
+    if value == 'inf':
+        return 1e6
+
+    try:
+        value = float(value)
+    except ValueError:
+        raise vol.Invalid("Expected acceleration as floating point number, got {}".format(value))
+
+    if value <= 0:
+        raise vol.Invalid("Acceleration must be larger than 0 steps/s^2!")
+
+    return value
+
+
+def validate_speed(value):
+    value = cv.string(value)
+    for suffix in ('steps/s', 'steps/s'):
+        if value.endswith(suffix):
+            value = value[:-len(suffix)]
+
+    if value == 'inf':
+        return 1e6
+
+    try:
+        value = float(value)
+    except ValueError:
+        raise vol.Invalid("Expected speed as floating point number, got {}".format(value))
+
+    if value <= 0:
+        raise vol.Invalid("Speed must be larger than 0 steps/s!")
+
+    return value
+
+
+STEPPER_SCHEMA = vol.Schema({
+    cv.GenerateID(): cv.declare_variable_id(Stepper),
+    vol.Required(CONF_MAX_SPEED): validate_speed,
+    vol.Optional(CONF_ACCELERATION): validate_acceleration,
+    vol.Optional(CONF_DECELERATION): validate_acceleration,
+})
+
+STEPPER_PLATFORM_SCHEMA = PLATFORM_SCHEMA.extend(STEPPER_SCHEMA.schema)
+
+
+def setup_stepper_core_(stepper_var, config):
+    if CONF_ACCELERATION in config:
+        add(stepper_var.set_acceleration(config[CONF_ACCELERATION]))
+    if CONF_DECELERATION in config:
+        add(stepper_var.set_deceleration(config[CONF_DECELERATION]))
+    if CONF_MAX_SPEED in config:
+        add(stepper_var.set_max_speed(config[CONF_MAX_SPEED]))
+
+
+def setup_stepper(stepper_var, config):
+    add_job(setup_stepper_core_, stepper_var, config)
+
+
+BUILD_FLAGS = '-DUSE_STEPPER'
+
+CONF_STEPPER_SET_TARGET = 'stepper.set_target'
+STEPPER_SET_TARGET_ACTION_SCHEMA = vol.Schema({
+    vol.Required(CONF_ID): cv.use_variable_id(None),
+    vol.Required(CONF_TARGET): cv.templatable(cv.int_),
+})
+
+
+@ACTION_REGISTRY.register(CONF_STEPPER_SET_TARGET, STEPPER_SET_TARGET_ACTION_SCHEMA)
+def stepper_set_target_to_code(config, action_id, arg_type):
+    template_arg = TemplateArguments(arg_type)
+    for var in get_variable(config[CONF_ID]):
+        yield None
+    rhs = var.make_set_target_action(template_arg)
+    type = SetTargetAction.template(arg_type)
+    action = Pvariable(action_id, rhs, type=type)
+    for template_ in templatable(config[CONF_TARGET], arg_type, int32):
+        yield None
+    add(action.set_target(template_))
+    yield action
+
+
+CONF_STEPPER_REPORT_POSITION = 'stepper.report_position'
+STEPPER_REPORT_POSITION_ACTION_SCHEMA = vol.Schema({
+    vol.Required(CONF_ID): cv.use_variable_id(None),
+    vol.Required(CONF_POSITION): cv.templatable(cv.int_),
+})
+
+
+@ACTION_REGISTRY.register(CONF_STEPPER_REPORT_POSITION, STEPPER_REPORT_POSITION_ACTION_SCHEMA)
+def stepper_report_position_to_code(config, action_id, arg_type):
+    template_arg = TemplateArguments(arg_type)
+    for var in get_variable(config[CONF_ID]):
+        yield None
+    rhs = var.make_report_position_action(template_arg)
+    type = ReportPositionAction.template(arg_type)
+    action = Pvariable(action_id, rhs, type=type)
+    for template_ in templatable(config[CONF_POSITION], arg_type, int32):
+        yield None
+    add(action.set_target(template_))
+    yield action

esphomeyaml/components/stepper/a4988.py

@@ -0,0 +1,35 @@
+import voluptuous as vol
+
+from esphomeyaml import pins
+from esphomeyaml.components import stepper
+import esphomeyaml.config_validation as cv
+from esphomeyaml.const import CONF_DIR_PIN, CONF_ID, CONF_SLEEP_PIN, CONF_STEP_PIN
+from esphomeyaml.helpers import App, Pvariable, add, gpio_output_pin_expression
+
+A4988 = stepper.stepper_ns.A4988
+
+PLATFORM_SCHEMA = stepper.STEPPER_PLATFORM_SCHEMA.extend({
+    vol.Required(CONF_ID): cv.declare_variable_id(A4988),
+    vol.Required(CONF_STEP_PIN): pins.gpio_output_pin_schema,
+    vol.Required(CONF_DIR_PIN): pins.gpio_output_pin_schema,
+    vol.Optional(CONF_SLEEP_PIN): pins.gpio_output_pin_schema,
+})
+
+
+def to_code(config):
+    for step_pin in gpio_output_pin_expression(config[CONF_STEP_PIN]):
+        yield
+    for dir_pin in gpio_output_pin_expression(config[CONF_DIR_PIN]):
+        yield
+    rhs = App.make_a4988(step_pin, dir_pin)
+    a4988 = Pvariable(config[CONF_ID], rhs)
+
+    if CONF_SLEEP_PIN in config:
+        for sleep_pin in gpio_output_pin_expression(config[CONF_SLEEP_PIN]):
+            yield
+        add(a4988.set_sleep_pin(sleep_pin))
+
+    stepper.setup_stepper(a4988, config)
+
+
+BUILD_FLAGS = '-DUSE_A4988'

esphomeyaml/const.py

@@ -350,6 +350,14 @@ CONF_ARGS = 'args'
 CONF_FORMAT = 'format'
 CONF_COLOR_CORRECT = 'color_correct'
 CONF_ON_JSON_MESSAGE = 'on_json_message'
+CONF_ACCELERATION = 'acceleration'
+CONF_DECELERATION = 'deceleration'
+CONF_MAX_SPEED = 'max_speed'
+CONF_TARGET = 'target'
+CONF_POSITION = 'position'
+CONF_STEP_PIN = 'step_pin'
+CONF_DIR_PIN = 'dir_pin'
+CONF_SLEEP_PIN = 'sleep_pin'
 
 ALLOWED_NAME_CHARS = u'abcdefghijklmnopqrstuvwxyz0123456789_'
 ARDUINO_VERSION_ESP32_DEV = 'https://github.com/platformio/platform-espressif32.git#feature/stage'

esphomeyaml/helpers.py

@@ -565,6 +565,7 @@ std_string = std_ns.string
 uint8 = global_ns.namespace('uint8_t')
 uint16 = global_ns.namespace('uint16_t')
 uint32 = global_ns.namespace('uint32_t')
+int32 = global_ns.namespace('int32_t')
 const_char_p = global_ns.namespace('const char *')
 NAN = global_ns.namespace('NAN')
 esphomelib_ns = global_ns  # using namespace esphomelib;

tests/test1.yaml

@@ -797,6 +797,12 @@ switch:
     optimistic: True
     turn_on_action:
     - switch.turn_on: living_room_lights_on
+    - output.set_level:
+        id: gpio_19
+        level: 50%
+    - output.set_level:
+        id: gpio_19
+        level: !lambda 'return 0.5;'
     turn_off_action:
     - switch.turn_on: living_room_lights_off
   - platform: restart
@@ -831,6 +837,19 @@ switch:
   - platform: uart
     name: "UART Bytes Output"
     data: [0xDE, 0xAD, 0xBE, 0xEF]
+  - platform: template
+    optimistic: true
+    name: Stepper Switch
+    turn_on_action:
+    - stepper.set_target:
+        id: my_stepper
+        target: !lambda |-
+          static int32_t i = 0;
+          i += 1000;
+          if (i > 5000) {
+            i = -5000;
+          }
+          return i;
 
 fan:
   - platform: binary
@@ -941,3 +960,13 @@ pcf8574:
   - id: 'pcf8574_hub'
     address: 0x21
     pcf8575: False
+
+stepper:
+- platform: a4988
+  id: my_stepper
+  step_pin: GPIO23
+  dir_pin: GPIO24
+  sleep_pin: GPIO25
+  max_speed: 250 steps/s
+  acceleration: 100 steps/s^2
+  deceleration: 200 steps/s^2