ESPHome - 28BYJ-48 motors with A4988 driver (Working Solution)

PanMat · July 31, 2021, 4:14am

Hi,
I found an other thread (from 2019) but it has become too long so was very difficult to navigate/read, hence starting a new one here.

I am trying to make a motorized window blinds using a 12V 28BYJ-48 stepper motor, Wemos D1 mini and A4988 driver.

The wiring is done as shown below with few exceptions:

Enable, MS1, MS2 & MS3 pins are not connected
Reset and Sleep are connected together and attached to D3 pin on the Wemos board
DIR is connected to D1 pin on the Wemos board
STEP is connected to D1 pin on the Wemos board

The ESPHome Config file is as follows:

esphome:
  name: d1-test
  platform: ESP8266
  board: d1_mini

# Enable logging
logger:

ota:
  password: "PASS"

wifi:
  ssid: !secret ssid
  password: !secret ssid_password
  fast_connect: True

  # Enable fallback hotspot (captive portal) in case wifi connection fails
  ap:
    ssid: "D1-Test Fallback Hotspot"
    password: "PASS"


# Enable Home Assistant API
api:
  password: 'PASS'
  services:
    - service: control_stepper
      variables:
        target: float
      then:
        - stepper.set_target:
            id: my_stepper
            target: !lambda "return target;"
        - cover.template.publish:
            id: blinds
            position: !lambda "return 1 - ((target) / id(stepper_steps));"
            
            
  
globals:
  - id: stepper_steps
    type: int
    initial_value: '11600'
  - id: stepper_position
    type: float
    initial_value: '0'
  - id: stepper_state
    type: int
    initial_value: '0'

binary_sensor:
  - platform: gpio
    pin: D8
    name: "PM_Button"
    filters:
    on_press:
      then:
        - lambda: |
            if (id(stepper_state) == 0) {
              //shade is stopped
              if (((id(stepper_position) < (id(stepper_steps) / 2)) || (id(stepper_position) == id(stepper_steps))) && (id(stepper_position) > 0)) {
                id(blinds).open();
              } else {
                id(blinds).close();
              }
            } else {
              //shade is moving
              id(blinds).stop();
            }

cover:
  - platform: template
    name: "Blinds"
    id: blinds
    open_action:
      - globals.set:
          id: stepper_state
          value: '1'
      - stepper.set_target:
          id: my_stepper
          target: 0
      - delay: !lambda "return (id(my_stepper).current_position / id(stepper_steps)) * 30000;"
      - globals.set:
          id: stepper_position
          value: !lambda "return id(my_stepper).target_position;"
      - globals.set:
          id: stepper_state
          value: '0'
    close_action:
      - globals.set:
          id: stepper_state
          value: '1'
      - stepper.set_target:
          id: my_stepper
          target: !lambda "return id(stepper_steps);"
      - delay: !lambda "return (1 - (id(my_stepper).current_position / id(stepper_steps))) * 30000;"
      - globals.set:
          id: stepper_position
          value: !lambda "return id(my_stepper).target_position;"
      - globals.set:
          id: stepper_state
          value: '0'
    stop_action:
      - stepper.set_target:
          id: my_stepper
          target: !lambda "return id(my_stepper).current_position;" 
      - globals.set:
          id: stepper_position
          value: !lambda "return id(my_stepper).current_position;"
      - globals.set:
          id: stepper_state
          value: '0'
      - cover.template.publish:
          id: blinds
          position: !lambda "return 1 - (id(stepper_position) / id(stepper_steps));"
    position_action:
      - stepper.set_target:
          id: my_stepper
          target: !lambda "return id(stepper_steps) * (1 - pos);"
    optimistic: true
    assumed_state: true
    has_position: true
    
stepper:
  - platform: a4988
    id: my_stepper
    dir_pin: D1
    step_pin: D2
    max_speed: 500 steps/s

    # Optional:
    sleep_pin: D3
    acceleration: inf
    deceleration: inf

The motor seems to be working in general but running into few issues:

the motor just seems to turn one way (randomly) and not sure if I am operating it wrong
The torque does not seem enough, see the link to see the bead slipping even when trying to rotate a very blind.

https://youtu.be/ki9a8pFgZF0

If anyone has any pointers for troubleshooting then please let me know.
Thanks!

laca75tn · July 31, 2021, 7:37pm

Try another pin for your binary sensor. Do not use D8

PanMat · August 1, 2021, 4:51pm

@laca75tn Thanks!

I switched to D5 pin on Wemos and grounded it (instead of D8) in wiring and changed configuration.
But it did not improve the torque on the motor and blinds will not rotate.

It must be something wrong with my setup as lots of other users have been to deploy it successfully (see YT videos) using similar set up. I will give it some break and then start from scratch in next few days in case I am doing something obvious stupid

PanMat · August 1, 2021, 5:34pm

A request to others who may have used a stepper motor, please post the link to your SKU.

Here are the two stepper motors I tried for this project:
a) 5V version
b) 12V version

Just trying to eliminate the possibility that I may be using an incompatible SKU for this project.
Thanks.

laca75tn · August 2, 2021, 1:05pm

I recommend you watching this:

Motorize and Automate your Blinds for $10! (WiFi) - YouTube specially at 2:30

PanMat · August 3, 2021, 7:04am

Ok this one tested my whole knowledge of electrical engineering

I was under the impression that a 12V 28BYJ-48 will have more torque than the 5V version but seems like I may be better off using a 12V supply on a 5V version with A4988 driver in short burst. And this is actually true as the motor shaft literally need move just about 90 degrees (1/4th rotation) to get blinds to either open or close.

I will give this one a try and report updates!!

PanMat · August 3, 2021, 7:05am

Another question, is it fair to assume that barring any manufacturing quality variances all 5V 28BYJ-48 should have same torque?

Just trying to eliminate OEM specific factor since I searched for the the cheapest deal on Amazon/eBay/Ali and ordered.

laca75tn · August 3, 2021, 12:20pm

From all information that I have read/watch on the 28BYJ-48, I would say that all behave the same. I have used different brands on different projects and they are the same. Of course, that’s a generalization.

fourtrax011 · October 19, 2021, 8:00am

If you don’t have this fixed by now I would suggest limiting the stepper speed to 300 steps and setting your accel and decell to arounld 150.

triblondon · November 27, 2021, 8:51pm

Hiya,

I’m trying to do exactly the same thing. Here’s where I ended up:

Hardware: D1Mini (ESP8266), A4988 motor driver, 28BYJ-48 motor (5V version, hacked to be bipolar), voltage converter (set to convert 12V to 5V), 12V power supply.
Mounting: I don’t have a 3D printer but I LOVE instamorph and use it for everything, and it’s perfect for this. You can get knockoff versions, they’re basically the same. Heat it up in a pot of hot water, and you get a gob of almost molten plastic, into which you can sink the motor to make a mounting. It hardens solid in < 5min and I found it was completely perfect.
Coupling: I have two blinds and they required different couplings because one has a very stiff tilt shaft, the other moves easily
- For the easy moving one, I used a metal shaft coupler from Amazon. Not perfect as I had to grind down the tilt rod slightly but very strong.
- For the stiff one, I left the worm gear mechanism in place and just removed the spool, replacing it with a LEGO 24-tooth Technic gear. I fitted a 16-tooth gear to the motor shaft, and mounted the motor sideways so that the gears meshed. This gear ratio plus the worm gear mechanism gave me enough reduction to allow the 28BYJ to tilt these very stiff blinds.
Connections (sorry I don’t know how to do the fancy diagrams!):
- Control
  - D1Mini D2 — A4988 Sleep — A4988 Reset (see below!)
  - D1Mini D3 — A4933 Step
  - D1Mini D4 — A4988 Direction
- Motor
  - A4988 1B pin 11 — Motor orange
  - A4988 1A pin 12 — Motor pink
  - A4988 2A pin 13 — Motor yellow
  - A4988 2B pin 14 — Motor blue
- Motor power
  - 12VAC — Voltage converter IN+ — A4988 VMOT
  - Voltage converter IN- — A4988 GND pin 15
- Logic power
  - Voltage converter OUT+ (5V) — D1Mini 5V — A4988 VDD
  - D1Mini GND — A4988 GND pin 9 — Voltage converter OUT-

ESPHome config:

esphome:
  name: blinds-tilt3
  platform: ESP8266
  board: d1_mini
  esp8266_restore_from_flash: true
  on_boot:
    priority: -100
    then:
      - stepper.report_position:
          id: blind_stepper
          position: !lambda "return id(saved_position);"
      - stepper.set_target:
          id: blind_stepper
          target: !lambda "return id(saved_position);"
      - stepper.set_speed:
          id: blind_stepper
          speed: 200 steps/s
      - script.execute: update_cover_position

logger:

ota:
  password: "foo" # set by ESPHome - use that value!

wifi:
  ssid: "foo"
  password: "foo"
  reboot_timeout: 2min

  # Enable fallback hotspot (captive portal) in case wifi connection fails
  ap:
    ssid: "Blinds-Tilt3 Fallback Hotspot"
    password: "foo"

captive_portal:


# Enable Home Assistant API
api:
  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: a4988
    id: blind_stepper
    dir_pin: D4
    step_pin: D3
    sleep_pin: D2
    max_speed: 250 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;'

Key learnings:

Many tutorials tell you to bridge the reset and sleep pins but don’t say to provide a sleep signal. I tried various combinations before realising that I needed to connect a pin on my microcontroller to both the sleep and reset pins, and configure it in ESPHome as the sleep pin.
D4 is the built in LED on the D1 Mini so if you use it for the direction signal to the motor controller, it will light up when the motor is going in one direction and be off when it goes in the other direction!
It’s pretty vital to have the ESPHome remember the current position of the motor, because if not, and you have a power cut, when the power comes back you might break your blinds/motor/mount by trying to close already-closed blinds.
Having a bit of acceleration and deceleration in the ESPHome config gives you extra torque when you need it.

JCsound · December 14, 2021, 4:39pm

Hi, how do I get it to turn the other way? And also how do I control the home assistant? Can you help me?

PanMat · January 22, 2022, 8:02pm

@triblondon Thanks Andrew, your step by step instructions worked out of the box!

@fourtrax011 applying your tweak ( 300 stepper speed and 150 for acceleration/decceleration) did boost the torque and blinds moved

yvosound · January 24, 2022, 9:15pm

HI Triblondon,

thnx for sharing your code,
i still got problems, current position value randomly “freaks”. been banging my head for days…
first some questions:
by globals: restore value is set to TRUE, makes it look at the stored value in “saved_position”"

so if i wan’t to calibrate i set this to FALSE ?
meaning: mij blind is up (stepper=0), set the global saved position to 0 and restore_value: FALSE.
then i do an upload (OTA) and i see op the webpage that the position is set to ). -ALL good so far.
then i go back to edit and make this value TRUE.
again an upload and the webpage is still saying position : 0.

now i do some movements, wait some seconds, make another movement that brings the blind back to 0.
now i wait again some seconds and do a restart…
instead of getting the position zero i get a totally different readout…
here’s “my” code…

esphome:
  name: blind2
  on_boot:
    priority: -500.0
    then:
      - stepper.report_position:
          id: blind_stepper
          position: !lambda "return id(saved_position);"
      - stepper.set_target:
          id: blind_stepper
          target: !lambda "return id(saved_position);"
      - stepper.set_speed:
          id: blind_stepper
          speed: 450 steps/s
      - script.execute: update_cover_position

  on_shutdown:
    then:
      - delay: 10ms
      - script.execute: record_stepper_position
      - delay: 10 ms


esp8266:
  board: esp01_1m
  restore_from_flash: true

globals:
  - id: open_position               # verschil tussen open en dicht = 28.800
    type: int
    initial_value: '0'
  - id: closed_position
    type: int
    initial_value: '28800'
  - id: saved_position
    type: int
    initial_value: '28800'
    restore_value: true
ota:
  
  
  

wifi:
  ssid: blablabla
  password: zegikniet
  power_save_mode: none
  fast_connect: true
  reboot_timeout: 5s
  #enable_mdns: true
  domain: .local



  # Enable fallback hotspot (captive portal) in case wifi connection fails
  ap:
    ssid: "Blind2"
    password: "zegiknogsteedsniet"
    
    
 

captive_portal:

# Enable logging
logger:
 level: very_verbose

# Enable Web server
web_server:
  port: 80
  
time:
  - platform: homeassistant
    id: homeassistant_time  

# Enable Home Assistant API
 ####### 
api:
  services:
    - service: control_stepper                        #  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;"
            
    - service: control_servo2
      variables:
        level: float
      then:
        - servo.write:
            id: servo2
            level: !lambda 'return level / 1.0;' 
        

cover:

  - platform: template
    id: "blind_cover"
    device_class: blind
    name: "Blinder2"
    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


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;'
# Example configuration entry


# Example output platform

output:
  - platform: esp8266_pwm
    id: pwm_output
    pin: GPIO2
    frequency: 50 Hz
    

  - platform: esp8266_pwm
    pin: GPIO3
    frequency: 19000 Hz
    id: light_pwm_output

servo:
  - id: servo2
    output: pwm_output
    #restore: true 
    auto_detach_time: 400ms 
    restore: true

stepper:
  - platform: uln2003
    id: blind_stepper
    sleep_when_done: true
    pin_a: GPIO4
    pin_b: GPIO16
    pin_c: GPIO14
    pin_d: GPIO12
    max_speed: 450 steps/s
    step_mode: FULL_STEP
    # Optional:
    acceleration: inf
    deceleration: inf

sensor:

  - platform: template
    name: "Current stepper2 position"
    lambda: return id(blind_stepper).current_position;
    update_interval: 5s

  - platform: wifi_signal
    name: "blinder2 WiFi Signal"
    update_interval: 60s 
      
# Extra sensor to keep track of plug uptime
  - platform: uptime
    name: blinder2_Uptime Sensor


light:
  - platform: monochromatic
    output: light_pwm_output
    name: "light blind2"



    
switch:

  
  - platform: restart
    name: "blind2 Restart"
    id: restart_switch

PanMat · January 28, 2022, 11:45pm

This is not the prettiest diagram but hopefully helps visualize the circuit and connections!

tipouletdomo · November 6, 2022, 1:20pm

Hello,

I see in the solution, you use a 5V version of the 28BYJ-48 steooer motor with a 12V VMOT through the A4988, is there a risk to burn the motor?

PanMat · November 6, 2022, 2:34pm

Initially I had only 5V motor which worked fine as the load was in short bursts, but I replaced it with 12V motor eventually.

cr0wstuf · November 7, 2022, 6:06pm

Did you ever figure this out? I’m experiencing the same thing where the stepper only turns one direction.

Tim_Knowlden · April 5, 2023, 9:19pm

I’ve got mine working today, same hardware. But it doesn’t quite pull hard enough at the end to fully close the tilt. How do you suggest setting up the acceleration for extra torque I require?

PanMat · April 9, 2023, 4:03am

I was able to increase torque using two things:

Opened the blind and applied WD40 to the pulley, it reduced friction significantly.
Played around stepper increment settings and finally the code below is the one that made blinds turned.

#The substitution block has all the configurable details
substitutions:
  name_of_board: blinds01
  ota_password: !secret blinds01_ota
  ap_point: !secret blinds01_ssid
  ap_point_password: !secret blinds01_ssid_password
  #api_password: !secret blinds01_api_password
  api_encryption_key: !secret blinds01_api_encryption
  stepper_speed: "300 steps/s"
  stepper_max_speed: "250 steps/s"
  acceleration_value: "150"
  deceleration_value: "150"
  initial_open_position: "8000" # sets this as the open position or the farthest motor will move for open
  initial_closed_position: "1000" # sets this as the close position or the farthest motor will move for close
  initial_saved_position: "1000" # sets the default value if there is no saved position saved to flash

############################################
#YOU SHOULD NOT NEED TO EDIT BELOW THIS LINE
############################################
esphome:
  name: $name_of_board
  platform: ESP8266
  board: d1_mini
  esp8266_restore_from_flash: true
  on_boot:
    priority: -100
    then:
      - stepper.report_position:
          id: blind_stepper
          position: !lambda "return id(saved_position);"
      - stepper.set_target:
          id: blind_stepper
          target: !lambda "return id(saved_position);"
      - stepper.set_speed:
          id: blind_stepper
          speed: $stepper_speed
      - script.execute: update_cover_position

# Enable logging
logger:


ota:
  password: $ota_password

wifi:
  ssid: !secret ssid
  password: !secret ssid_password
  fast_connect: True

  # Enable fallback hotspot (captive portal) in case wifi connection fails
  ap:
    ssid: $ap_point
    password: $ap_point_password

captive_portal:


# Enable Home Assistant API
api:
  password: $api_password
  encryption:
    key: $api_encryption_key
  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: $initial_open_position
  - id: closed_position
    type: int
    initial_value: $initial_closed_position
  - id: saved_position
    type: int
    initial_value: $initial_saved_position
    restore_value: true

stepper:
  - platform: a4988
    id: blind_stepper
    dir_pin: D4
    step_pin: D3
    sleep_pin: D2
    max_speed: $stepper_max_speed
    acceleration: $acceleration_value
    deceleration: $deceleration_value

cover:
  - platform: template
    id: blind_cover
    device_class: blind
    name: ${name_of_board} 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: ${name_of_board} Current position
    lambda: return id(blind_stepper).current_position;
    update_interval: 5s
  - platform: wifi_signal
    name: ${name_of_board} Wifi
    update_interval: 60s
binary_sensor:
  - platform: status
    name: ${name_of_board} Status
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;'

HTH.

PS: If your blinds are large then you may want to look at more expensive motors like Nema which have better performance characterstics.

Corey_Johnson · June 28, 2023, 3:11am

So I am trying your code to control a damper project I am working on.
My concern is if the stepper positioning gets out of sync with my damper - it could strip gears or snap the panel.

I see that this appears to save the last position to overcome this but in a recent test, it did not work.
I also see that you had another thread trying to get more information on this feature. Flash memory

Have you had any problems with losing positioning? How do you reset/correct if so?