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‎.devcontainer/esphome/Dockerfile

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FROM esphome/esphome:latest
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# Create a non-root user
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RUN adduser --disabled-password --gecos '' vscode && \
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usermod -aG dialout vscode && \
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mkdir -p /home/vscode/.esphome && \
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chown -R vscode:vscode /home/vscode/.esphome
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USER vscode
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WORKDIR /workspace

‎.devcontainer/esphome/devcontainer.json

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{
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"name": "ESPHome",
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"build": {
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"dockerfile": "Dockerfile",
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"context": ".."
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},
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"runArgs": [
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"--privileged",
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"--network=host"
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],
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"settings": {
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"terminal.integrated.defaultProfile.linux": "/bin/bash"
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},
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"extensions": [
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"esphome.vscode-esphome"
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],
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"remoteUser": "vscode"
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}

‎.devcontainer/devcontainer.json renamed to ‎.devcontainer/kibot/devcontainer.json

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{
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"name": "devContainer",
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"name": "KiBot",
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"image": "ghcr.io/inti-cmnb/kicad9_auto_full:latest",
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"runArgs": [
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"-v",
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"/var/run/docker.sock:/var/run/docker.sock"
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],
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"postCreateCommand": "bash ./.devcontainer/post-create.sh",
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"customizations": {
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"vscode": {
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"extensions": [
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"danielmeza.kicad-syntax-highlighter",
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"ESPHome.esphome-vscode",
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"argmaster.gerber-x3-x2-format-support",
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"ms-python.python",
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"ms-python.vscode-pylance",
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"github.vscode-github-actions"
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]
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}

‎.devcontainer/post-create.sh

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This file was deleted.

‎.github/workflows/release.yaml

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on:
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push:
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paths:
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- '**.kicad_sch'
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- '**.kicad_pcb'
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branches:
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- main
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- develop
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pull_request:
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paths:
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- '**.kicad_sch'
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- '**.kicad_pcb'
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branches:
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- main
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- develop
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jobs:
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release:
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runs-on: ubuntu-latest
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container:
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image: ghcr.io/inti-cmnb/kicad9_auto_full:latest
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# permissions:
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# contents: write
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permissions:
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contents: write
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steps:
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- name: Checkout
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uses: actions/checkout@v4

‎README.md

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inspired by [joshr120/PD-Stepper](https://github.com/joshr120/PD-Stepper) but being fully open hardware/software.
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Stepper motor controller using Trinamic TMC2209, ESP32-S3 and USB-PD mountable onto any NEMA17 motor.
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Stepper motor controller using Trinamic TMC2208, ESP32-S3 and USB-PD mountable onto any NEMA17 motor.
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## Main Features:
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- **ESP32-S3**
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- alternatively a LM555 pulse generator can be used.
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- **USB Power Delivery** providing up to 20V operation
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- alternatively 9-24 Volt external supply
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- **TMC2209** silent stepper motor driver
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- optional
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- **TMC2208** silent stepper motor driver
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- optional
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- rotary encoder:
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- **AS5048B** 14-Bit angular position sensor
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- **MPU-9250** 9-axis motion sensor
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#### Layout
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| Top | Bottom |
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| ---------------------------------------------- | ---------------------------------------------------- |
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| ![top view](pcb/docs/img/esp32stepper-top.svg) | ![bottom view](pcb/docs/img/esp32stepper-bottom.svg) |
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<table border="0" width="100%">
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<tr>
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<th><strong>Top</strong></th>
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<th><strong>Bottom</strong></th>
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</tr>
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<tr>
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<td><img src="pcb/docs/img/esp32stepper-top.svg" alt="PCB top view" width="400"></td>
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<td><img src="pcb/docs/img/esp32stepper-bottom.svg" alt="PCB bottom view" width="400"></td>
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</tr>
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</table>
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All fabrication files needed to produce this PCB are located within the [release package](https://github.com/nerdyscout/esp32stepper/releases).
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‎_config.yml

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2020

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title: ESP32STEPPER
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email: stefan.herold@posteo.de
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description: "Stepper motor controller using TMC2209, ESP32-S3 and USB-PD mountable onto any NEMA17 motor."
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description: "Stepper motor controller using TMC2208, ESP32-S3 and USB-PD mountable onto any NEMA17 motor."
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baseurl: "esp32stepper" # the subpath of your site, e.g. /blog
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url: "" # the base hostname & protocol for your site, e.g. http://example.com
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github_username: nerdyscout

‎firmware/esphome/tmc2208.yaml

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external_components:
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- source: github://slimcdk/esphome-custom-components
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components: [tmc2208_hub, tmc2208, stepper]
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# - source:
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# type: local
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# path: components
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esphome:
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name: esp32stepper
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project:
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name: nerdyscout.esp32stepper
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version: "1.1"
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platformio_options:
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board_build.flash_mode: dio
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upload_speed: 921600
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on_boot:
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- tmc2208.configure:
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microsteps: 4
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direction: clockwise
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interpolation: true
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- tmc2208.currents:
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irun: 16
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ihold: 0
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tpowerdown: 0
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iholddelay: 0
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standstill_mode: freewheeling
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- output.turn_off: #Microstep resolution configuration (internal pull-down resistors: MS2, MS1: 00: 1/8, 01: 1/32, 10: 1/64 11: 1/16
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id: MS1_pin
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- output.turn_off:
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id: MS2_pin
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#set PD voltage # 5V 9V 12V 15V 20V
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- output.turn_off: # 1 0 0 0 0
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id: CFG1_pin
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- output.turn_on: # - 0 0 1 1
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id: CFG2_pin
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- output.turn_off: # - 0 1 1 0
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id: CFG3_pin
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esp32:
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board: esp32-s3-devkitc-1
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# variant: esp32s3
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framework:
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type: arduino
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# This should point to the public location of this yaml file.
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dashboard_import:
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package_import_url: github://nerdyscout/esp32stepper/firmware/esphome/tmc22208.yaml#main
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import_full_config: false # or true
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ota:
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platform: esphome
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password: !secret ota_password
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wifi:
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ssid: !secret wifi_ssid
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password: !secret wifi_password
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web_server:
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version: 3
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port: 80
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captive_portal:
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mqtt:
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broker: !secret mqtt_broker
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username: !secret mqtt_username
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password: !secret mqtt_password
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api:
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password: !secret api_password
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logger:
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# level: DEBUG
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i2c:
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sda: GPIO46
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scl: GPIO45
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scan: true
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# id: bus_a
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uart:
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- id: serial_extern
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tx_pin: GPIO43
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rx_pin: GPIO44
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baud_rate: 115200
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- id: serial_stepper
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tx_pin: GPIO17
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rx_pin: GPIO18
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baud_rate: 115200
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tmc2208_hub:
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id: tmc_hub
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uart_id: serial_stepper
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output:
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- platform: gpio
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pin: GPIO21
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id: MS1_pin
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- platform: gpio
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pin: GPIO13
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id: MS2_pin
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- platform: gpio
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pin: GPIO14
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id: CFG1_pin
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- platform: gpio
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pin: GPIO12
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id: CFG2_pin
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- platform: gpio
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pin: GPIO11
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id: CFG3_pin
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light:
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- platform: neopixelbus
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type: GRB
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variant: WS2812
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pin: GPIO10
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num_leds: 2
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id: led_rgb
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- platform: partition
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name: "RGB LED 1"
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segments:
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- id: led_rgb
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from: 0
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to: 0
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- platform: partition
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name: "RGB LED 2"
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segments:
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- id: led_rgb
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from: 1
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to: 1
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stepper:
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- platform: tmc2208
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id: driver
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tmc2208_hub_id: tmc_hub
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max_speed: 800 steps/s
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acceleration: 1500 steps/s^2
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deceleration: 1500 steps/s^2
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rsense: 100 mOhm
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vsense: False
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enn_pin: GPIO09 # Enable not input pin for the driver.
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diag_pin: GPIO08 # Error signaling from the driver.
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index_pin: GPIO07 # Serves as stepping feedback from the internal step pulse generator
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step_pin: GPIO02 # Provides stepping pulses to the driver.
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dir_pin: GPIO04 # Controls direction of the motor.
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on_status:
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- logger.log:
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format: "Driver is reporting an update! (code %d)"
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args: ["code"]
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# only supported by TMC2209
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# on_stall:
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# - logger.log: "Motor stalled!"
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# - stepper.stop: driver
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# - light.turn_on:
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# id: led_rgb
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# transition_length: 0s
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# - delay: 250ms
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# - light.turn_off:
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# id: led_rgb
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# transition_length: 1s
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button:
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- platform: restart
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name: Restart
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- platform: template
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name: Stop
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on_press:
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- stepper.stop: driver
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binary_sensor:
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- platform: gpio
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name: Button 1
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pin:
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number: GPIO47
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mode: INPUT
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inverted: true
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id: btn1
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filters:
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- delayed_on: 10ms
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- platform: gpio
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name: Button 2
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id: btn2
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pin:
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number: GPIO48
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mode: INPUT
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inverted: true
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filters:
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- delayed_on: 10ms
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display:
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- platform: ssd1306_i2c
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model: "SSD1306 128x64"
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lambda: |-
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it.print(0, 0, id(roboto), "Hello World!");
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sensor:
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# - platform: bme280_i2c
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# update_interval: 10s
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# temperature:
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# name: "BME280 Temperature"
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# pressure:
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# name: "BME280 Pressure"
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# humidity:
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# name: "BME280 Humidity"
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- platform: adc
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name: "VBUS Voltage"
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pin: GPIO05
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update_interval: 2s
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attenuation: 12dB
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filters:
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- multiply: 8.47742
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- platform: rotary_encoder
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name: "Rotary Encoder"
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pin_a: GPIO15
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pin_b: GPIO16
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pin_reset: GPIO03
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id: rotary
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# on_value:
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# then:
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# - stepper.set_target:
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# id: driver
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# target: !lambda "return id(rotary)->current_position;"
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number:
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- platform: template
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name: Target position
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min_value: -10000
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max_value: 10000
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step: 10
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lambda: return id(driver)->current_position;
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update_interval: 1s
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set_action:
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- stepper.set_target:
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id: driver
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target: !lambda "return x;"
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font:
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- file: "gfonts://Roboto"
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id: roboto
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size: 10

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