Stepper Component

The stepper component allows you to use stepper motors with esphomelib. Currently only the A4988 stepper driver (datasheet) and ULN2003 (datasheet) are supported.

A4988 Configuration

# Example configuration entry
stepper:
  - platform: a4988
    id: my_stepper
    step_pin: D0
    dir_pin: D1
    max_speed: 250 steps/s

    # Optional:
    sleep_pin: D2
    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.
  • 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.
  • 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.
  • acceleration (Optional, float): The acceleration in steps/s^2 (steps per seconds squared) to use when starting to move. The default is inf which means infinite acceleration, so the stepper will try to drive with the full speed immediately.
  • deceleration (Optional, float): The same as acceleration, but for when the motor is decelerating shortly before reaching the set position. Defaults to inf (immediate deceleration).

Note

If the stepper is driving in the wrong direction, you can invert the dir_pin:

stepper:
  - platform: a4988
    # ...
    dir_pin:
      number: D1
      inverted: True

ULN2003 Configuration

# Example configuration entry
stepper:
  - platform: uln2003
    id: my_stepper
    pin_a: D0
    pin_b: D1
    pin_c: D2
    pin_d: D3
    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, pin_b, pin_c, pin_d (Required, Pin Schema): The four pins 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

  • 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 is inf which means infinite acceleration, so the stepper will try to drive with the full speed immediately.

  • deceleration (Optional, float): The same as acceleration, but for when the motor is decelerating shortly before reaching the set position. Defaults to inf (immediate deceleration).

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 (Optional, int, templatable): The target position in steps.

Note

This action can also be expressed as a lambda:

id(my_stepper).set_target(250);

// Get the currently set target position:
int target = id(my_stepper).target_position;

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 options:

  • id (Required, ID): The ID of the stepper.
  • target (Optional, int, templatable): The target position in steps.

Note

This action can also be expressed as a lambda:

id(my_stepper).report_position(250);

// Get the current position:
int pos = id(my_stepper).current_position;