mirror of
https://github.com/Threnklyn/esphome-dev.git
synced 2026-05-27 08:18:28 +02:00
Otto Winter
8e75980ebd
* Cleanup dashboard JS * Add vscode * Save start_mark/end_mark * Updates * Updates * Remove need for cv.nameable It's a bit hacky but removes so much bloat from integrations * Add enum helper * Document APIs, and Improvements * Fixes * Fixes * Update PULL_REQUEST_TEMPLATE.md * Updates * Updates * Updates
65 lines
1.9 KiB
C++
65 lines
1.9 KiB
C++
#pragma once
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#include "esphome/core/component.h"
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#include "esphome/core/automation.h"
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#include "esphome/components/stepper/stepper.h"
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namespace esphome {
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namespace stepper {
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#define LOG_STEPPER(this) \
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ESP_LOGCONFIG(TAG, " Acceleration: %.0f steps/s^2", this->acceleration_); \
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ESP_LOGCONFIG(TAG, " Deceleration: %.0f steps/s^2", this->deceleration_); \
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ESP_LOGCONFIG(TAG, " Max Speed: %.0f steps/s", this->max_speed_);
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class Stepper {
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public:
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void set_target(int32_t steps) { this->target_position = steps; }
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void report_position(int32_t steps) { this->current_position = steps; }
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void set_acceleration(float acceleration) { this->acceleration_ = acceleration; }
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void set_deceleration(float deceleration) { this->deceleration_ = deceleration; }
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void set_max_speed(float max_speed) { this->max_speed_ = max_speed; }
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bool has_reached_target() { return this->current_position == this->target_position; }
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int32_t current_position{0};
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int32_t target_position{0};
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protected:
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void calculate_speed_(uint32_t now);
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int32_t should_step_();
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float acceleration_{1e6f};
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float deceleration_{1e6f};
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float current_speed_{0.0f};
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float max_speed_{1e6f};
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uint32_t last_calculation_{0};
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uint32_t last_step_{0};
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};
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template<typename... Ts> class SetTargetAction : public Action<Ts...> {
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public:
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explicit SetTargetAction(Stepper *parent) : parent_(parent) {}
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TEMPLATABLE_VALUE(int32_t, target)
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void play(Ts... x) override { this->parent_->set_target(this->target_.value(x...)); }
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protected:
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Stepper *parent_;
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};
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template<typename... Ts> class ReportPositionAction : public Action<Ts...> {
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public:
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explicit ReportPositionAction(Stepper *parent) : parent_(parent) {}
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TEMPLATABLE_VALUE(int32_t, position)
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void play(Ts... x) override { this->parent_->report_position(this->position_.value(x...)); }
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protected:
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Stepper *parent_;
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};
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} // namespace stepper
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} // namespace esphome
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