ESP32-Stepper-Rullegardin

esphome:
  name: motor-persienner-2

esp32:
  board: esp32dev
  framework:
    type: arduino

# Enable logging
logger:

ota:
  password: "aa6d2ef6d6bb0a1f1364b035a68d8686"

wifi:
  ssid: !secret wifi_ssid
  password: !secret wifi_password

  # Enable fallback hotspot (captive portal) in case wifi connection fails
  ap:
    ssid: "Motor-Persienner-2"
    password: "GB2nclOIrGeg"

captive_portal:

     # Enable Home Assistant API
api:
  encryption:
    key: "GAgvGvd1vA2swDSvspxIzSJcObRqh1+JrWTobR8lmzY="
  services:
    - service: set_stepper_target
      variables:
        target: int
      then:
        - stepper.set_target:
            id: blind_stepper
            target: !lambda 'return target;'
        - script.execute: record_stepper_position
    - service: set_stepper_speed
      variables:
        speed: int
      then:
        - stepper.set_speed:
            id: blind_stepper
            speed: !lambda 'return speed;'
    - service: set_stepper_position
      variables:
        stepper_position: int
      then:
        - stepper.report_position:
            id: blind_stepper
            position: !lambda "return stepper_position;"
        - stepper.set_target:
            id: blind_stepper
            target: !lambda "return stepper_position;"

globals:
  - id: open_position
    type: int
    initial_value: '8000'
  - id: closed_position
    type: int
    initial_value: '1000'
  - id: saved_position
    type: int
    initial_value: '1000'
    restore_value: true

stepper:
  - platform: uln2003
    id: blind_stepper
    pin_a: GPIO16
    pin_b: GPIO17
    pin_c: GPIO18
    pin_d: GPIO19
    max_speed: 50 steps/s
    acceleration: 200
    deceleration: 200

cover:
  - platform: template
    id: "blind_cover"
    device_class: blind
    name: "Blinds"
    has_position: true
    optimistic: false
    open_action:
      - logger.log: "Opening"
      - cover.template.publish:
          id: blind_cover
          current_operation: OPENING
      - stepper.set_target:
          id: blind_stepper
          target: !lambda "return id(open_position);"
      - while:
          condition:
            lambda: 'return id(blind_stepper).current_position < id(open_position);'
          then:
            - script.execute: update_cover_position
            - delay: 1000 ms
      - script.execute: update_cover_position
      - script.execute: record_stepper_position
      - cover.template.publish:
          id: blind_cover
          current_operation: IDLE
    close_action:
      - logger.log: "Closing"
      - cover.template.publish:
          id: blind_cover
          current_operation: CLOSING
      - stepper.set_target:
          id: blind_stepper
          target: !lambda "return id(closed_position);"
      - while:
          condition:
            lambda: 'return id(blind_stepper).current_position > id(closed_position);'
          then:
            - script.execute: update_cover_position
            - delay: 1000 ms
      - script.execute: update_cover_position
      - script.execute: record_stepper_position
      - cover.template.publish:
          id: blind_cover
          current_operation: IDLE
    position_action:
      - logger.log: "Setting position"
      - stepper.set_target:
          id: blind_stepper
          target: !lambda 'return (float(pos) * float( float(id(open_position)) - float(id(closed_position)) )) + float(id(closed_position));'
      - while:
          condition:
            lambda: 'return id(blind_stepper).current_position != ((float(pos) * float( float(id(open_position)) - float(id(closed_position)) )) + float(id(closed_position)));'
          then:
            - script.execute: update_cover_position
            - delay: 1000 ms
      - script.execute: update_cover_position
      - script.execute: record_stepper_position
      - cover.template.publish:
          id: blind_cover
          current_operation: IDLE
    stop_action:
      - logger.log: "Stopping"
      - cover.template.publish:
          id: blind_cover
          current_operation: IDLE
      - stepper.set_target:
          id: blind_stepper
          target: !lambda 'return id(blind_stepper).current_position;'
      - script.execute: update_cover_position
      - script.execute: record_stepper_position

sensor:
  - platform: template
    name: "Current stepper position"
    lambda: return id(blind_stepper).current_position;
    update_interval: 5s

script:
  - id: update_cover_position
    then:
      - cover.template.publish:
          id: blind_cover
          position: !lambda 'return float( float(id(blind_stepper).current_position) - float(id(closed_position))) / float( float(id(open_position)) - float(id(closed_position)) );'
  - id: record_stepper_position
    then:
      - globals.set:
          id: saved_position
          value: !lambda 'return id(blind_stepper).current_position;'