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lumascet/multiple_covers_wip.yaml

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WIP multiple covers yaml configuration for FYSETC-E4 esphome
Raw
multiple_covers_wip.yaml
substitutions:
device_name: "lush-cover-controller"
pulley_diameter_mm: "21.963"
gear_ratio: "1880/2000"
distance_mm: "2050"
acceleration: 500 steps/s^2
velocity: 2500 steps/s # 200 (motor steps) * ${microsteps}
back_off_steps: "200" # back off some steps to reduce stepper energize noise
open_current_x: 1000ma
open_stall_threshold_x: "28"
close_current_x: 300ma
close_stall_threshold_x: "30"
tcool_threshold_x: "1000"
change_direction_x: "True"
tmc_address_x: "0x01"
open_current_y: 50ma
open_stall_threshold_y: "28"
close_current_y: 50ma
close_stall_threshold_y: "30"
tcool_threshold_y: "1000"
change_direction_y: "True"
tmc_address_y: "0x11"
sense_resistor: "0.15 ohm"
external_components:
source: github://lumascet/esphome@stepper-tmc2209-new_uart
components: [uart, tmc2209]
esphome:
name: ${device_name}
platform: ESP32
board: nodemcu-32s
platformio_options:
upload_speed: 921600
on_boot:
- tmc2209.setup:
id: stepper_x
microsteps: 16
tcool_threshold: ${tcool_threshold_x}
current: ${close_current_x}
stall_threshold: ${open_stall_threshold_x}
sense_resistor: ${sense_resistor}
uart_address: ${tmc_address_x}
- delay: 1s
- tmc2209.setup:
id: stepper_y
microsteps: 16
tcool_threshold: ${tcool_threshold_y}
current: ${close_current_y}
stall_threshold: ${open_stall_threshold_y}
sense_resistor: ${sense_resistor}
uart_address: ${tmc_address_y}
- script.execute:
id: script_set_cover_open
stepper_id: stepper_x
- script.execute:
id: script_set_cover_open
stepper_id: stepper_y
wifi:
ssid: !secret wifi_ssid
password: !secret wifi_password
# Enable logging
logger:
level: INFO
# verbose logger over uart causes motor artifacts as pulses are generated in main loop
#logger:
# level: VERBOSE
# logs:
# api: DEBUG
# api.service: DEBUG
# scheduler: DEBUG
# stepper: DEBUG
# uart: DEBUG
ota:
password: "xxx"
uart:
id: uart_stepper
tx_pin: GPIO22
rx_pin: GPIO21
baud_rate: 9600
status_led:
pin: GPIO26
api:
encryption:
key: "xxx"
services:
- service: control_stepper
variables:
stepper_id: string
target: int
speed: int
microsteps: int
tcool_threshold: int
stall_threshold: int
rms_current_amps: float
then:
- if:
condition:
lambda: 'return stepper_id == "stepper_x";'
then:
- tmc2209.setup:
id: stepper_x
microsteps: !lambda "return microsteps;"
tcool_threshold: !lambda "return tcool_threshold;"
stall_threshold: !lambda "return stall_threshold;"
current: !lambda "return rms_current_amps;"
sense_resistor: ${sense_resistor}
uart_address: ${tmc_address_x}
- logger.log:
format: moving to %d
args: [target]
- stepper.set_speed:
id: stepper_x
speed: !lambda "return speed;"
- stepper.set_target:
id: stepper_x
target: !lambda "return target;"
- if:
condition:
lambda: 'return stepper_id == "stepper_y";'
then:
- tmc2209.setup:
id: stepper_y
microsteps: !lambda "return microsteps;"
tcool_threshold: !lambda "return tcool_threshold;"
stall_threshold: !lambda "return stall_threshold;"
current: !lambda "return rms_current_amps;"
sense_resistor: ${sense_resistor}
uart_address: ${tmc_address_y}
- logger.log:
format: moving to %d
args: [target]
- stepper.set_speed:
id: stepper_y
speed: !lambda "return speed;"
- stepper.set_target:
id: stepper_y
target: !lambda "return target;"
- service: set_cover_closed
variables:
stepper_id: string
then:
- script.execute:
id: script_set_cover_closed
stepper_id: !lambda "return stepper_id;"
- service: set_cover_open
variables:
stepper_id: string
then:
- script.execute:
id: script_set_cover_open
stepper_id: !lambda "return stepper_id;"
- service: close_variable_speed
variables:
stepper_id: string
speed: int
stall_threshold: int
then:
- if:
condition:
lambda: 'return stepper_id == "stepper_x";'
then:
- if:
condition:
and:
- binary_sensor.is_off: window_sensor
- binary_sensor.is_off: lower_limit_sensor
then:
- tmc2209.setup:
id: stepper_x
microsteps: 16
current: ${close_current_x}
stall_threshold: !lambda "return stall_threshold;"
sense_resistor: ${sense_resistor}
uart_address: ${tmc_address_x}
- stepper.set_speed:
id: stepper_x
speed: !lambda "return speed;"
- stepper.set_target:
id: stepper_x
target: 0
- wait_until:
condition:
lambda: |-
return id(stepper_x).current_position < 10;
- stepper.set_target:
id: stepper_x
target: ${back_off_steps}
- if:
condition:
lambda: 'return stepper_id == "stepper_y";'
then:
- if:
condition:
and:
- binary_sensor.is_off: window_sensor
- binary_sensor.is_off: lower_limit_sensor
then:
- tmc2209.setup:
id: stepper_y
microsteps: 16
current: ${close_current_y}
stall_threshold: !lambda "return stall_threshold;"
sense_resistor: ${sense_resistor}
uart_address: ${tmc_address_y}
- stepper.set_speed:
id: stepper_y
speed: !lambda "return speed;"
- stepper.set_target:
id: stepper_y
target: 0
- wait_until:
condition:
lambda: |-
return id(stepper_y).current_position < 10;
- stepper.set_target:
id: stepper_y
target: ${back_off_steps}
- service: open_variable_speed
variables:
stepper_id: string
speed: int
stall_threshold: int
then:
- if:
condition:
and:
- binary_sensor.is_off: window_sensor
then:
- if:
condition:
lambda: 'return stepper_id == "stepper_x";'
then:
- tmc2209.setup:
id: stepper_x
microsteps: 16
current: ${open_current_x}
stall_threshold: !lambda "return stall_threshold;"
sense_resistor: ${sense_resistor}
uart_address: ${tmc_address_x}
- stepper.set_speed:
id: stepper_x
speed: !lambda "return speed;"
- stepper.set_target:
id: stepper_x
target: !lambda "return id(open_position);"
- wait_until:
condition:
lambda: |-
return id(stepper_x).current_position > (id(open_position)-10);
- stepper.set_target:
id: stepper_x
target: !lambda "return id(open_position)-int(${back_off_steps});"
- if:
condition:
lambda: 'return stepper_id == "stepper_y";'
then:
- tmc2209.setup:
id: stepper_y
microsteps: 16
current: ${open_current_y}
stall_threshold: !lambda "return stall_threshold;"
sense_resistor: ${sense_resistor}
uart_address: ${tmc_address_y}
- stepper.set_speed:
id: stepper_y
speed: !lambda "return speed;"
- stepper.set_target:
id: stepper_y
target: !lambda "return id(open_position);"
- wait_until:
condition:
lambda: |-
return id(stepper_y).current_position > (id(open_position)-10);
- stepper.set_target:
id: stepper_y
target: !lambda "return id(open_position)-int(${back_off_steps});"
stepper:
- platform: tmc2209
steppers:
- id: stepper_x
step_pin: GPIO27
dir_pin:
number: GPIO26
inverted: ${change_direction_x}
sleep_pin:
number: GPIO25
inverted: true
acceleration: ${acceleration}
deceleration: ${acceleration}
max_speed: ${velocity}
sense_resistor: ${sense_resistor}
uart_address: ${tmc_address_x}
- id: stepper_y
step_pin: GPIO33
dir_pin:
number: GPIO32
inverted: ${change_direction_y}
sleep_pin:
number: GPIO25
inverted: true
acceleration: ${acceleration}
deceleration: ${acceleration}
max_speed: ${velocity}
sense_resistor: ${sense_resistor}
uart_address: ${tmc_address_y}
binary_sensor:
# - platform: gpio
# name: Button1
# pin:
# number: GPIO23
# inverted: true
# mode: INPUT
# on_press:
# then:
# - cover.open:
# id: cover_x
# - platform: gpio
# name: Button2
# pin:
# number: GPIO34
# inverted: true
# mode: INPUT
# on_press:
# then:
# - cover.close:
# id: cover_x
# - platform: gpio
# name: Sensor1
# pin:
# number: GPIO22
# inverted: true
# - platform: gpio
# name: SensorGPIO0
# pin:
# number: GPIO0
# inverted: true
# - platform: gpio
# name: Sensor2
# pin:
# number: GPIO32
# inverted: true
- platform: homeassistant
name: "Window sensor homeassistant"
entity_id: binary_sensor.lumi_lumi_sensor_magnet_aq2_2ad04f04_on_off
id: window_sensor
on_press:
script.execute:
id: stop_at_current_position
stepper_id: stepper_x
- platform: gpio
id: stall_guard_sensor
name: StallGuard
pin: GPIO34
#on_press:
# script.execute:
# id: stop_at_current_position
# stepper_id: stepper_x
- platform: gpio # or use this pin as stall guard for y-axis
id: lower_limit_sensor
name: Lower Limit
pin:
number: GPIO35
inverted: True
on_press:
if:
condition:
lambda: "return id(cover_x).current_operation == COVER_OPERATION_CLOSING;"
then:
- script.execute:
id: stop_at_current_position
stepper_id: stepper_x
- script.execute:
id: script_set_cover_closed
stepper_id: stepper_x
script:
- id: stop_at_current_position
parameters:
stepper_id: string
then:
- if:
condition:
lambda: 'return stepper_id == "stepper_x";'
then:
stepper.set_target:
id: stepper_x
target: !lambda "return id(stepper_x).current_position;"
- if:
condition:
lambda: 'return stepper_id == "stepper_y";'
then:
stepper.set_target:
id: stepper_y
target: !lambda "return id(stepper_y).current_position;"
- id: script_set_cover_closed
parameters:
stepper_id: string
then:
- if:
condition:
lambda: 'return stepper_id == "stepper_x";'
then:
- stepper.report_position:
id: stepper_x
position: 0
- stepper.set_target:
id: stepper_x
target: 0
- if:
condition:
lambda: 'return stepper_id == "stepper_y";'
then:
- stepper.report_position:
id: stepper_y
position: 0
- stepper.set_target:
id: stepper_y
target: 0
- id: script_set_cover_open
parameters:
stepper_id: string
then:
- if:
condition:
lambda: 'return stepper_id == "stepper_x";'
then:
- stepper.report_position:
id: stepper_x
position: !lambda "return id(open_position);"
- stepper.set_target:
id: stepper_x
target: !lambda "return id(open_position);"
- if:
condition:
lambda: 'return stepper_id == "stepper_y";'
then:
- stepper.report_position:
id: stepper_y
position: !lambda "return id(open_position);"
- stepper.set_target:
id: stepper_y
target: !lambda "return id(open_position);"
globals:
- id: open_position
type: float
initial_value: "${distance_mm} / (${pulley_diameter_mm} * ${gear_ratio} * PI) * 200 * 16"
cover:
# X-COVER
- platform: template
id: cover_x
name: "${device_name} cover X"
has_position: True
open_action:
- if:
condition:
and:
- binary_sensor.is_off: window_sensor
then:
- tmc2209.setup:
id: stepper_x
current: ${open_current_x}
stall_threshold: ${open_stall_threshold_x}
sense_resistor: ${sense_resistor}
uart_address: ${tmc_address_x}
microsteps: 16
- stepper.set_speed:
id: stepper_x
speed: ${velocity}
- stepper.set_target:
id: stepper_x
target: !lambda "return id(open_position);"
- wait_until:
condition:
lambda: |-
return id(stepper_x).current_position > (id(open_position)-10);
- stepper.set_target:
id: stepper_x
target: !lambda "return id(open_position)-int(${back_off_steps});"
close_action:
- if:
condition:
and:
- binary_sensor.is_off: window_sensor
- binary_sensor.is_off: lower_limit_sensor
then:
- tmc2209.setup:
id: stepper_x
current: ${close_current_x}
stall_threshold: ${close_stall_threshold_x}
sense_resistor: ${sense_resistor}
uart_address: ${tmc_address_x}
microsteps: 16
- stepper.set_speed:
id: stepper_x
speed: ${velocity}
- stepper.set_target:
id: stepper_x
# 0 Means closed
target: 0
- wait_until:
condition:
lambda: |-
return id(stepper_x).current_position < 10;
- stepper.set_target:
id: stepper_x
target: ${back_off_steps}
position_action:
- if:
condition:
binary_sensor.is_off: window_sensor
then:
- tmc2209.setup:
id: stepper_x
current: ${open_current_x}
stall_threshold: ${open_stall_threshold_x}
sense_resistor: ${sense_resistor}
uart_address: ${tmc_address_x}
microsteps: 16
- stepper.set_speed:
id: stepper_x
speed: ${velocity}
- stepper.set_target:
id: stepper_x
target: !lambda "return id(open_position) * pos;"
stop_action:
- script.execute:
id: stop_at_current_position
stepper_id: stepper_x
# Y-COVER
- platform: template
id: cover_y
name: "${device_name} cover Y"
has_position: True
open_action:
- if:
condition:
and:
- binary_sensor.is_off: window_sensor
then:
- tmc2209.setup:
id: stepper_y
current: ${open_current_y}
stall_threshold: ${open_stall_threshold_y}
sense_resistor: ${sense_resistor}
uart_address: ${tmc_address_y}
microsteps: 16
- stepper.set_speed:
id: stepper_y
speed: ${velocity}
- stepper.set_target:
id: stepper_y
target: !lambda "return id(open_position);"
- wait_until:
condition:
lambda: |-
return id(stepper_y).current_position > (id(open_position)-10);
- stepper.set_target:
id: stepper_y
target: !lambda "return id(open_position)-int(${back_off_steps});"
close_action:
- if:
condition:
and:
- binary_sensor.is_off: window_sensor
- binary_sensor.is_off: lower_limit_sensor
then:
- tmc2209.setup:
id: stepper_y
current: ${close_current_y}
stall_threshold: ${close_stall_threshold_y}
sense_resistor: ${sense_resistor}
uart_address: ${tmc_address_y}
microsteps: 16
- stepper.set_speed:
id: stepper_y
speed: ${velocity}
- stepper.set_target:
id: stepper_y
# 0 Means closed
target: 0
- wait_until:
condition:
lambda: |-
return id(stepper_y).current_position < 10;
- stepper.set_target:
id: stepper_y
target: ${back_off_steps}
position_action:
- if:
condition:
binary_sensor.is_off: window_sensor
then:
- tmc2209.setup:
id: stepper_y
current: ${open_current_y}
stall_threshold: ${open_stall_threshold_y}
sense_resistor: ${sense_resistor}
uart_address: ${tmc_address_y}
microsteps: 16
- stepper.set_speed:
id: stepper_y
speed: ${velocity}
- stepper.set_target:
id: stepper_y
target: !lambda "return id(open_position) * pos;"
stop_action:
- script.execute:
id: stop_at_current_position
stepper_id: stepper_y
interval:
- interval: 2s
then:
lambda: |-
static auto operation = COVER_OPERATION_IDLE;
static auto position = id(stepper_x).current_position;
if (operation != id(cover_x).current_operation ||
position != id(stepper_x).current_position)
{
if (id(stepper_x).current_position > id(stepper_x).target_position)
operation = COVER_OPERATION_CLOSING;
else if (id(stepper_x).current_position < id(stepper_x).target_position)
operation = COVER_OPERATION_OPENING;
else
operation = COVER_OPERATION_IDLE;
id(cover_x).current_operation = operation;
position = id(stepper_x).current_position;
id(cover_x).position = position / id(open_position);
id(cover_x).publish_state();
ESP_LOGD("main", "Stepper X Position is: %d/%d", id(stepper_x).current_position, (int)id(open_position));
// ESP_LOGD("main", "Stepper X Position is: %d/%d", id(stepper_x).current_position, (int)id(open_position));
// ESP_LOGD("main", "Stepper X Position is: %d/%d", id(stepper_x).current_position, (int)id(open_position));
}
- interval: 2s
then:
lambda: |-
static auto operation = COVER_OPERATION_IDLE;
static auto position = id(stepper_y).current_position;
if (operation != id(cover_y).current_operation ||
position != id(stepper_y).current_position)
{
if (id(stepper_y).current_position > id(stepper_y).target_position)
operation = COVER_OPERATION_CLOSING;
else if (id(stepper_y).current_position < id(stepper_y).target_position)
operation = COVER_OPERATION_OPENING;
else
operation = COVER_OPERATION_IDLE;
id(cover_y).current_operation = operation;
position = id(stepper_y).current_position;
id(cover_y).position = position / id(open_position);
id(cover_y).publish_state();
ESP_LOGD("main", "Stepper Y Position is: %d/%d", id(stepper_y).current_position, (int)id(open_position));
// ESP_LOGD("main", "Stepper Y Position is: %d/%d", id(stepper_y).current_position, (int)id(open_position));
// ESP_LOGD("main", "Stepper Y Position is: %d/%d", id(stepper_y).current_position, (int)id(open_position));
}
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