esphome:
  on_boot:
    then:
      - stepper.report_position:
          id: uln2003_stepper
          position: 250
      - stepper.set_target:
          id: uln2003_stepper
          target: 250
      - stepper.set_acceleration:
          id: uln2003_stepper
          acceleration: 250 steps/s^2
      - stepper.set_deceleration:
          id: uln2003_stepper
          deceleration: 250 steps/s^2
      - stepper.set_speed:
          id: uln2003_stepper
          speed: 250 steps/s

stepper:
  - platform: uln2003
    id: uln2003_stepper
    pin_a: ${pin_a}
    pin_b: ${pin_b}
    pin_c: ${pin_c}
    pin_d: ${pin_d}
    max_speed: 250 steps/s
    acceleration: 100 steps/s^2
    deceleration: 200 steps/s^2
