Here is my setup for my window with an endstop on close. It works. Let me know if its the correct method

ESPHome
1 

I didnt find an example of what I needed so I modified what I did see. It seems to work but I'm not sure if I did it correctly. Also is there a reason to have the api services because I took it out. All feedback appreciated. 


esphome:
  name: window_lr_right
  platform: ESP8266
  board: nodemcuv2

wifi:
  ssid: 
  password: 
  manual_ip:
    static_ip: 192.168.1.211
    gateway: 192.168.1.1
    subnet: 192.168.1.0
    
web_server:
  port: 80

captive_portal:

# Enable logging
logger:

ota:

api:
  # services:
  #   - service: control_blind
  #     variables:
  #       target: int
  #     then:
  #       - stepper.set_target:
  #           id: my_stepper
  #           target: !lambda 'return target;'
  #       - sensor.template.publish:
  #           id: position
  #           state: !lambda 'return target;'

cover:
  - platform: template
    name: "Living Room Windows"
    id: my_window
    device_class: window
    open_action:
      - stepper.set_target:
          id: my_stepper
          target: 30000
      - sensor.template.publish:
          id: position
          state: !lambda return id(my_stepper).target_position;
    close_action:
      - if:
          condition:
#          reached past the 'top' but still haven't triggered the endstop yet
            lambda: "if(id(endstop).state == 0) { return 1; } else { return 0; }"
          then:
            - stepper.set_target:
                id: my_stepper
                target: -30100
      - sensor.template.publish:
            id: position
            state: !lambda return id(my_stepper).target_position;
    stop_action:
      - stepper.set_target:
          id: my_stepper
          target: !lambda return id(my_stepper).current_position;
      - sensor.template.publish:
            id: position
            state: !lambda return id(my_stepper).current_position;
    optimistic: true
    assumed_state: true

sensor:
  - platform: template
    name: "My Window Position"
    id: position

stepper:
  - platform: a4988
    id: my_stepper
    step_pin: D3
    dir_pin: D4
    sleep_pin:
      number: D2
      inverted: TRUE
    max_speed: 700
    acceleration: inf
    deceleration: inf


binary_sensor:    
  - platform: gpio
    pin:
      number: D7
      mode: INPUT_PULLUP
    name: "Endstop Window LR right"
    id: endstop
    filters:
        - invert:
    on_press:
      then:
#         hit the endstop, store the current steps value and reset stepper position to 0
        - stepper.report_position:
            id: my_stepper
            position: 0
#      just in case set the target to 0
        - stepper.set_target:
            id: my_stepper
            target: 0
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