44 lines
1.2 KiB
C++
44 lines
1.2 KiB
C++
#pragma once
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#include "esphome/core/component.h"
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#include "esphome/core/hal.h"
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#include "esphome/components/stepper/stepper.h"
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namespace esphome {
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namespace uln2003 {
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enum ULN2003StepMode {
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ULN2003_STEP_MODE_FULL_STEP,
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ULN2003_STEP_MODE_HALF_STEP,
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ULN2003_STEP_MODE_WAVE_DRIVE,
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};
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class ULN2003 : public stepper::Stepper, public Component {
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public:
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void set_pin_a(GPIOPin *pin_a) { pin_a_ = pin_a; }
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void set_pin_b(GPIOPin *pin_b) { pin_b_ = pin_b; }
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void set_pin_c(GPIOPin *pin_c) { pin_c_ = pin_c; }
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void set_pin_d(GPIOPin *pin_d) { pin_d_ = pin_d; }
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void setup() override;
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void loop() override;
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void dump_config() override;
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float get_setup_priority() const override { return setup_priority::HARDWARE; }
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void set_sleep_when_done(bool sleep_when_done) { this->sleep_when_done_ = sleep_when_done; }
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void set_step_mode(ULN2003StepMode step_mode) { this->step_mode_ = step_mode; }
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protected:
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void write_step_(int32_t step);
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bool sleep_when_done_{false};
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GPIOPin *pin_a_;
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GPIOPin *pin_b_;
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GPIOPin *pin_c_;
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GPIOPin *pin_d_;
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ULN2003StepMode step_mode_{ULN2003_STEP_MODE_FULL_STEP};
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HighFrequencyLoopRequester high_freq_;
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int32_t current_uln_pos_{0};
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};
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} // namespace uln2003
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} // namespace esphome
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