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Add Stepper Motor Support (#206)
* Add stepper support * Fix output set_level * Lint
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parent
21c22fe04a
commit
af4e2bf61d
6 changed files with 202 additions and 3 deletions
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@ -5,7 +5,7 @@ import esphomeyaml.config_validation as cv
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from esphomeyaml.components.power_supply import PowerSupplyComponent
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from esphomeyaml.const import CONF_INVERTED, CONF_MAX_POWER, CONF_POWER_SUPPLY, CONF_ID, CONF_LEVEL
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from esphomeyaml.helpers import add, esphomelib_ns, get_variable, TemplateArguments, Pvariable, \
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templatable, bool_
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templatable, float_
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PLATFORM_SCHEMA = cv.PLATFORM_SCHEMA.extend({
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@ -85,7 +85,7 @@ def output_turn_off_to_code(config, action_id, arg_type):
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CONF_OUTPUT_SET_LEVEL = 'output.set_level'
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OUTPUT_SET_LEVEL_ACTION = vol.Schema({
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vol.Required(CONF_ID): cv.use_variable_id(None),
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vol.Required(CONF_LEVEL): cv.percentage,
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vol.Required(CONF_LEVEL): cv.templatable(cv.percentage),
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})
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@ -97,7 +97,7 @@ def output_set_level_to_code(config, action_id, arg_type):
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rhs = var.make_set_level_action(template_arg)
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type = SetLevelAction.template(arg_type)
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action = Pvariable(action_id, rhs, type=type)
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for template_ in templatable(config[CONF_LEVEL], arg_type, bool_):
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for template_ in templatable(config[CONF_LEVEL], arg_type, float_):
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yield None
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add(action.set_level(template_))
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yield action
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126
esphomeyaml/components/stepper/__init__.py
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126
esphomeyaml/components/stepper/__init__.py
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@ -0,0 +1,126 @@
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import voluptuous as vol
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from esphomeyaml.automation import ACTION_REGISTRY
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import esphomeyaml.config_validation as cv
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from esphomeyaml.const import CONF_ACCELERATION, CONF_DECELERATION, CONF_ID, CONF_MAX_SPEED, \
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CONF_POSITION, CONF_TARGET
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from esphomeyaml.helpers import Pvariable, TemplateArguments, add, add_job, esphomelib_ns, \
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get_variable, int32, templatable
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PLATFORM_SCHEMA = cv.PLATFORM_SCHEMA.extend({
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})
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# pylint: disable=invalid-name
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stepper_ns = esphomelib_ns.namespace('stepper')
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Stepper = stepper_ns.Stepper
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SetTargetAction = stepper_ns.SetTargetAction
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ReportPositionAction = stepper_ns.ReportPositionAction
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def validate_acceleration(value):
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value = cv.string(value)
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for suffix in ('steps/s^2', 'steps/s*s', 'steps/s/s', 'steps/ss', 'steps/(s*s)'):
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if value.endswith(suffix):
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value = value[:-len(suffix)]
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if value == 'inf':
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return 1e6
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try:
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value = float(value)
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except ValueError:
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raise vol.Invalid("Expected acceleration as floating point number, got {}".format(value))
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if value <= 0:
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raise vol.Invalid("Acceleration must be larger than 0 steps/s^2!")
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return value
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def validate_speed(value):
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value = cv.string(value)
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for suffix in ('steps/s', 'steps/s'):
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if value.endswith(suffix):
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value = value[:-len(suffix)]
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if value == 'inf':
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return 1e6
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try:
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value = float(value)
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except ValueError:
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raise vol.Invalid("Expected speed as floating point number, got {}".format(value))
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if value <= 0:
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raise vol.Invalid("Speed must be larger than 0 steps/s!")
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return value
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STEPPER_SCHEMA = vol.Schema({
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cv.GenerateID(): cv.declare_variable_id(Stepper),
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vol.Required(CONF_MAX_SPEED): validate_speed,
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vol.Optional(CONF_ACCELERATION): validate_acceleration,
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vol.Optional(CONF_DECELERATION): validate_acceleration,
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})
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STEPPER_PLATFORM_SCHEMA = PLATFORM_SCHEMA.extend(STEPPER_SCHEMA.schema)
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def setup_stepper_core_(stepper_var, config):
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if CONF_ACCELERATION in config:
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add(stepper_var.set_acceleration(config[CONF_ACCELERATION]))
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if CONF_DECELERATION in config:
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add(stepper_var.set_deceleration(config[CONF_DECELERATION]))
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if CONF_MAX_SPEED in config:
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add(stepper_var.set_max_speed(config[CONF_MAX_SPEED]))
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def setup_stepper(stepper_var, config):
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add_job(setup_stepper_core_, stepper_var, config)
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BUILD_FLAGS = '-DUSE_STEPPER'
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CONF_STEPPER_SET_TARGET = 'stepper.set_target'
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STEPPER_SET_TARGET_ACTION_SCHEMA = vol.Schema({
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vol.Required(CONF_ID): cv.use_variable_id(None),
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vol.Required(CONF_TARGET): cv.templatable(cv.int_),
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})
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@ACTION_REGISTRY.register(CONF_STEPPER_SET_TARGET, STEPPER_SET_TARGET_ACTION_SCHEMA)
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def stepper_set_target_to_code(config, action_id, arg_type):
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template_arg = TemplateArguments(arg_type)
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for var in get_variable(config[CONF_ID]):
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yield None
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rhs = var.make_set_target_action(template_arg)
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type = SetTargetAction.template(arg_type)
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action = Pvariable(action_id, rhs, type=type)
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for template_ in templatable(config[CONF_TARGET], arg_type, int32):
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yield None
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add(action.set_target(template_))
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yield action
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CONF_STEPPER_REPORT_POSITION = 'stepper.report_position'
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STEPPER_REPORT_POSITION_ACTION_SCHEMA = vol.Schema({
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vol.Required(CONF_ID): cv.use_variable_id(None),
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vol.Required(CONF_POSITION): cv.templatable(cv.int_),
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})
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@ACTION_REGISTRY.register(CONF_STEPPER_REPORT_POSITION, STEPPER_REPORT_POSITION_ACTION_SCHEMA)
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def stepper_report_position_to_code(config, action_id, arg_type):
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template_arg = TemplateArguments(arg_type)
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for var in get_variable(config[CONF_ID]):
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yield None
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rhs = var.make_report_position_action(template_arg)
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type = ReportPositionAction.template(arg_type)
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action = Pvariable(action_id, rhs, type=type)
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for template_ in templatable(config[CONF_POSITION], arg_type, int32):
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yield None
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add(action.set_target(template_))
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yield action
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35
esphomeyaml/components/stepper/a4988.py
Normal file
35
esphomeyaml/components/stepper/a4988.py
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@ -0,0 +1,35 @@
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import voluptuous as vol
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from esphomeyaml import pins
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from esphomeyaml.components import stepper
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import esphomeyaml.config_validation as cv
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from esphomeyaml.const import CONF_DIR_PIN, CONF_ID, CONF_SLEEP_PIN, CONF_STEP_PIN
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from esphomeyaml.helpers import App, Pvariable, add, gpio_output_pin_expression
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A4988 = stepper.stepper_ns.A4988
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PLATFORM_SCHEMA = stepper.STEPPER_PLATFORM_SCHEMA.extend({
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vol.Required(CONF_ID): cv.declare_variable_id(A4988),
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vol.Required(CONF_STEP_PIN): pins.gpio_output_pin_schema,
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vol.Required(CONF_DIR_PIN): pins.gpio_output_pin_schema,
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vol.Optional(CONF_SLEEP_PIN): pins.gpio_output_pin_schema,
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})
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def to_code(config):
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for step_pin in gpio_output_pin_expression(config[CONF_STEP_PIN]):
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yield
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for dir_pin in gpio_output_pin_expression(config[CONF_DIR_PIN]):
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yield
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rhs = App.make_a4988(step_pin, dir_pin)
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a4988 = Pvariable(config[CONF_ID], rhs)
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if CONF_SLEEP_PIN in config:
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for sleep_pin in gpio_output_pin_expression(config[CONF_SLEEP_PIN]):
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yield
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add(a4988.set_sleep_pin(sleep_pin))
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stepper.setup_stepper(a4988, config)
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BUILD_FLAGS = '-DUSE_A4988'
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@ -350,6 +350,14 @@ CONF_ARGS = 'args'
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CONF_FORMAT = 'format'
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CONF_COLOR_CORRECT = 'color_correct'
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CONF_ON_JSON_MESSAGE = 'on_json_message'
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CONF_ACCELERATION = 'acceleration'
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CONF_DECELERATION = 'deceleration'
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CONF_MAX_SPEED = 'max_speed'
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CONF_TARGET = 'target'
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CONF_POSITION = 'position'
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CONF_STEP_PIN = 'step_pin'
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CONF_DIR_PIN = 'dir_pin'
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CONF_SLEEP_PIN = 'sleep_pin'
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ALLOWED_NAME_CHARS = u'abcdefghijklmnopqrstuvwxyz0123456789_'
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ARDUINO_VERSION_ESP32_DEV = 'https://github.com/platformio/platform-espressif32.git#feature/stage'
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@ -565,6 +565,7 @@ std_string = std_ns.string
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uint8 = global_ns.namespace('uint8_t')
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uint16 = global_ns.namespace('uint16_t')
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uint32 = global_ns.namespace('uint32_t')
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int32 = global_ns.namespace('int32_t')
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const_char_p = global_ns.namespace('const char *')
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NAN = global_ns.namespace('NAN')
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esphomelib_ns = global_ns # using namespace esphomelib;
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@ -797,6 +797,12 @@ switch:
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optimistic: True
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turn_on_action:
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- switch.turn_on: living_room_lights_on
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- output.set_level:
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id: gpio_19
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level: 50%
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- output.set_level:
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id: gpio_19
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level: !lambda 'return 0.5;'
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turn_off_action:
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- switch.turn_on: living_room_lights_off
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- platform: restart
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@ -831,6 +837,19 @@ switch:
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- platform: uart
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name: "UART Bytes Output"
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data: [0xDE, 0xAD, 0xBE, 0xEF]
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- platform: template
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optimistic: true
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name: Stepper Switch
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turn_on_action:
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- stepper.set_target:
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id: my_stepper
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target: !lambda |-
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static int32_t i = 0;
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i += 1000;
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if (i > 5000) {
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i = -5000;
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}
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return i;
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fan:
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- platform: binary
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@ -941,3 +960,13 @@ pcf8574:
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- id: 'pcf8574_hub'
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address: 0x21
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pcf8575: False
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stepper:
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- platform: a4988
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id: my_stepper
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step_pin: GPIO23
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dir_pin: GPIO24
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sleep_pin: GPIO25
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max_speed: 250 steps/s
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acceleration: 100 steps/s^2
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deceleration: 200 steps/s^2
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