Stepper Component¶
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 Home Assistant Configuration.
Base Stepper Configuration¶
All stepper configuration schemas inherit these options.
Configuration variables:
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 isinf
which means infinite acceleration, so the stepper will try to drive with the full speed immediately. This value is helpful if that first motion of the motor is too jerky for what it’s moving. If you make this a small number, it will take the motor a moment to get up to speed.deceleration (Optional, float): The same as
acceleration
, but for when the motor is decelerating shortly before reaching the set position. Defaults toinf
(immediate deceleration).
A4988 Component¶
Put this code into the configuration file on ESPHome for this device.
stepper:
- platform: a4988
id: my_stepper
step_pin: GPIOXX
dir_pin: GPIOXX
max_speed: 250 steps/s
# Optional:
sleep_pin: GPIOXX
acceleration: inf
deceleration: inf
Configuration variables:
id (Required, ID): Specify the ID of the stepper so that you can control it.
step_pin (Required, Pin Schema): The
STEP
pin of the A4988 stepper driver.dir_pin (Required, Pin Schema): The
DIRECTION
pin of the A4988 stepper driver.sleep_pin (Optional, 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.All other from Base Stepper Configuration.
Note
If the stepper is driving in the wrong direction, you can invert the dir_pin
:
stepper:
- platform: a4988
# ...
dir_pin:
number: GPIOXX
inverted: true
ULN2003 Component¶
Put this code into the configuration file on ESPHome for this device.
# Example configuration entry
stepper:
- platform: uln2003
id: my_stepper
pin_a: GPIOXX
pin_b: GPIOXX
pin_c: GPIOXX
pin_d: GPIOXX
max_speed: 250 steps/s
# Optional:
acceleration: inf
deceleration: inf
Configuration variables:
id (Required, ID): Specify the ID of the stepper so that you can control it.
pin_a (Required, Pin Schema): The pin a of the stepper control board.
pin_b (Required, Pin Schema): The pin b of the stepper control board.
pin_c (Required, Pin Schema): The pin c of the stepper control board.
pin_d (Required, Pin Schema): The pin d 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
All other from Base Stepper Configuration.
stepper.set_target
Action¶
To use your stepper motor in 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.
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, ID): The ID of the stepper.
target (Required, int, templatable): The target position in steps.
Warning
This turns the stepper to an absolute position! To have the stepper motor move relative to the current position, first reset the current position and then set the target to the relative value.
on_...:
then:
# Move 150 steps forward
- stepper.report_position:
id: my_stepper
position: 0
- stepper.set_target:
id: my_stepper
target: 150
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.
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 variables:
id (Required, ID): The ID of the stepper.
position (Required, int, templatable): The position to report in steps.
stepper.set_speed
Action¶
This Action allows you to set the speed of a stepper at runtime.
on_...:
- stepper.set_speed:
id: my_stepper
speed: 250 steps/s
Configuration variables:
id (Required, ID): The ID of the stepper.
speed (Required, templatable, float): The speed in
steps/s
(steps per seconds) to drive the stepper at.
stepper.set_acceleration
Action¶
This Action allows you to set the acceleration of a stepper at runtime.
on_...:
- stepper.set_acceleration:
id: my_stepper
acceleration: 250 steps/s^2
Configuration variables:
id (Required, ID): The ID of the stepper.
acceleration (Required, templatable, float): The acceleration in
steps/s^2
(steps per seconds squared) to use when starting to move.
stepper.set_deceleration
Action¶
This Action allows you to set the deceleration of a stepper at runtime.
on_...:
- stepper.set_deceleration:
id: my_stepper
deceleration: 250 steps/s^2
Configuration variables:
id (Required, ID): The ID of the stepper.
deceleration (Required, templatable, float): The same as
acceleration
, but for when the motor is decelerating shortly before reaching the set position.
Home Assistant Configuration¶
The easiest way to control your stepper from Home Assistant is to add a number
to your ESPHome
configuration. See Number for more information.
number:
- platform: template
name: Stepper Control
min_value: -100
max_value: 100
step: 1
set_action:
then:
- stepper.set_target:
id: my_stepper
target: !lambda 'return x;'
stepper:
- platform: ...
# [...] stepper config
id: my_stepper
lambda calls¶
From lambdas, you can call several methods on stepper motors to do some advanced stuff (see the full API Reference for more info).
set_target
: Set the target position of the motor as an integer.// Argument is integer (signed int) // Set the (absolute) target position to 250 steps id(my_stepper).set_target(250);
report_position
: Report the current position as an integer.// Report the (absolute) current position as 250 steps id(my_stepper).report_position(250);
current_position
: Get the current position of the stepper as an integer.int pos = id(my_stepper).current_position;
target_position
: Get the set target position of the stepper as an integer.int pos = id(my_stepper).target_position;