esphome:
  name: esphome-web-2e08d0
  friendly_name: basement-heater-stepper-2
  min_version: 2024.11.0
  name_add_mac_suffix: false
  on_boot:
      - tmc2209.configure:
          microsteps: 8
          interpolation: true
      - tmc2209.stallguard:
          threshold: 50
      - tmc2209.currents:
          standstill_mode: freewheeling
          irun: 16
          ihold: 0
          tpowerdown: 0
          iholddelay: 0



esp32:
  board: esp32dev
  framework:
    type: esp-idf

# Enable logging
logger:
  baud_rate: 0

# Enable Home Assistant API
api:

# Allow Over-The-Air updates
ota:
- platform: esphome

wifi:
  ssid: "The Twelve Colonies"
  password: "4404137231"


external_components:
  - source: github://slimcdk/esphome-custom-components
    components: [ tmc2209_hub, tmc2209, stepper ]

globals:
  - id: has_homed
    type: bool
    initial_value: "true"
    restore_value: no

uart:
  tx_pin: GPIO16 #tx 1K OHM RESISTOR
  rx_pin: GPIO17 #rx
  baud_rate: 500000 # 9600 -> 500k

stepper:
  - platform: tmc2209
    id: driver
    max_speed: 900 steps/s
    acceleration: 1500 steps/s^2
    deceleration: 500 steps/s^2
    config_dump_include_registers: true
    rsense: 110 mOhm
    vsense: False
#    address: 0x00
    enn_pin: GPIO25 #D7
    diag_pin: GPIO34 #D2
#    index_pin: GPIO12 #d5
    step_pin: GPIO26 #D2
    dir_pin: GPIO14 #D5
    on_stall:
      - logger.log: "Motor stalled!"
      - stepper.stop: driver
      - if:
          condition:
            lambda: return !id(has_homed);
          then:
            - stepper.report_position:
                id: driver
                position: 0
            - globals.set:
                id: has_homed
                value: "true"
            - logger.log: "Home position set"

button:
  - platform: template
    name: Home
    on_press:
      - logger.log: "Going home!"
      - globals.set:
          id: has_homed
          value: "false"
      - stepper.set_target:
          id: driver
          target: -9999999

  - platform: template
    name: 1000 Steps forward
    on_press:
      - stepper.set_target:
          id: driver
          target: !lambda return id(driver)->current_position +1000;

  - platform: template
    name: 1000 Steps backward
    on_press:
      - stepper.set_target:
          id: driver
          target: !lambda return id(driver)->current_position -1000;

  - platform: template
    name: Stop
    on_press:
      - stepper.stop: driver

number:
  - platform: template
    name: Target position
    min_value: -100000
    max_value: 100000
    step: 100
    lambda: return id(driver)->current_position;
    update_interval: 1s
    set_action:
      - stepper.set_target:
          id: driver
          target: !lambda "return x;"

sensor:
  - platform: tmc2209
    type: motor_load
    name: Motor load
    update_interval: 250ms