Curtain Control Node.

[jacikaas]

Hello,

I trying to adopt the code for 28BYJ-48 stepper motor with ULN2003 driver board for roller blinds control. Code is working, but when the stepper motor is always on - it gets hot. Because of it also its consumes more energy. So thats why I want to turn on ULN2003 board only when new action is started, and after that it should be shuted down again. I could do it, because ULN2003 has On/Off jumper:

Question #1: I trying to use relay for that On/Off. Could I do it without relay and control On/Off jumper directly from arduino? Does relay is the best solution?

Question #2: I suck at programming, but I trying to add theese lines to my code to control the relay SIL05-1A72-71D, which controls the ULN2003 driver board:
int powerPin = 7; //before SETUP
pinMode(powerPin, OUTPUT); // In SETUP
digitalWrite(powerPin, LOW); // In SETUP
digitalWrite(powerPin, HIGH); // In void receive function
delay(CURTAIN_CLOSED); // In void receive function
digitalWrite(powerPin, LOW); // In void receive function

digitalWrite(powerPin, HIGH); - I think is in right position, but I don't know how to turn off relay when action is done. Please advise for coding, because I not good in it. Thank You! Below is the code:

// Enable debug prints to serial monitor
#define MY_DEBUG

// Enable and select radio type attached
#define MY_NODE_ID 10
#define MY_RADIO_NRF24
//#define MY_RADIO_RFM69

// Enable repeater functionality for this node
//#define MY_REPEATER_FEATURE

#include <SPI.h>
#include <MySensors.h>
#include <AccelStepper.h>      //import biblioteki AccelStepper 

#define HALFSTEP 8
#define CURTAIN_CLOSED 10000  // wartosc gdy kurtyna zamknieta
#define CURTAIN_OPEN 0       // wartosc gdy kurtyna otwarta
#define CHILD_ID 1

int powerPin = 7;

// definicje MySensors

MyMessage message(CHILD_ID, S_COVER);

// Definicja pinow silnika
#define IN1  3     // IN1 - zielony
#define IN2  4     // IN2 - czarny
#define IN3  5     // IN3 - niebieski
#define IN4  6     // IN4 - czerwony
 
AccelStepper stepper1(HALFSTEP, IN1, IN3, IN2, IN4);

void setup()
{
  stepper1.setMaxSpeed(1000.0);
  stepper1.setAcceleration(100.0);
  stepper1.setSpeed(200);
  stepper1.moveTo(CURTAIN_OPEN);
  
  pinMode(powerPin, OUTPUT);
  digitalWrite(powerPin, LOW);
}

void presentation() 
{
  // Wyslanie informacji o wersji programu
  sendSketchInfo("Roller blinds", "1.0");
  // Register all sensors to gw (they will be created as child devices)
  present(CHILD_ID, S_COVER); // Window Cover sub-type, commands: V_UP, V_DOWN, V_STOP
}

void loop()
{
  stepper1.run();  //Start
}

void receive(const MyMessage &message)
{
  // if message = V_UP start moving until closed
  if (message.type==V_UP) {
     digitalWrite(powerPin, HIGH);
     if (stepper1.distanceToGo() == 0){
         if (stepper1.currentPosition() == CURTAIN_OPEN){
             stepper1.moveTo(CURTAIN_CLOSED);
     // Store state in eeprom
     saveState(message.sensor, message.getBool());
     request(CHILD_ID, V_UP, 0); // request new values from controller
         }
      }
   }
   if (message.type==V_DOWN) {
       digitalWrite(powerPin, HIGH);
       stepper1.moveTo(CURTAIN_OPEN);
       // Store state in eeprom
       saveState(message.sensor, message.getBool());
       request(CHILD_ID, V_DOWN, 0); // request new values from controller   
    }
    if (message.type==V_STOP) {
        digitalWrite(powerPin, HIGH);
        stepper1.setCurrentPosition(0);
        // Store state in eeprom
        saveState(message.sensor, message.getBool());
        request(CHILD_ID, V_STOP, 0); // request new values from controller
    }
 //   delay(CURTAIN_CLOSED);
 //   digitalWrite(powerPin, LOW);
}

[Suresh Mali]

@jacikaas said in Curtain Control Node.:

void receive(const MyMessage &message)
{
// if message = V_UP start moving until closed
if (message.type==V_UP) {
digitalWrite(powerPin, HIGH);
if (stepper1.distanceToGo() == 0){
if (stepper1.currentPosition() == CURTAIN_OPEN){
stepper1.moveTo(CURTAIN_CLOSED);
// Store state in eeprom
saveState(message.sensor, message.getBool());
request(CHILD_ID, V_UP, 0); // request new values from controller
}
}
}
if (message.type==V_DOWN) {
digitalWrite(powerPin, HIGH);
stepper1.moveTo(CURTAIN_OPEN);
// Store state in eeprom
saveState(message.sensor, message.getBool());
request(CHILD_ID, V_DOWN, 0); // request new values from controller
}
if (message.type==V_STOP) {
digitalWrite(powerPin, HIGH);
stepper1.setCurrentPosition(0);
// Store state in eeprom
saveState(message.sensor, message.getBool());
request(CHILD_ID, V_STOP, 0); // request new values from controller
}
// delay(CURTAIN_CLOSED);
// digitalWrite(powerPin, LOW);
}

You can enable and disable outputs and try. In the following function:

void receive(const MyMessage &message)

//add the following at the begining of the function
stepper1.enableOutputs ()
//and add the following at the end in the same function.
stepper1.disableOutputs ()

I hope this helps haven't tried it myself.

[jacikaas]

@suresh-mali Thank You Suresh for Your answer!
I disconnect relay and delete it lines from the code.

I add lines to code like You said:

void receive(const MyMessage &message)
{
stepper1.enableOutputs ();
 // rest of code
stepper1.disableOutputs ();
}

It looks like it have to work because it is simple solution, but it doesn't... On driver board ULN2003, when motor is not rotating, A Led is always on. I think if command with disableOutputs would be activated, then the LED should not be on?

[Suresh Mali]

@jacikaas Ok.

//Remove this line from loop function
stepper1.run(); 

//Change this line
stepper1.moveTo(CURTAIN_CLOSED);
//to
stepper1.runToPosition(CURTAIN_CLOSED);

I hope this works. Also make similar changes in block which closes curtains.
Refernce article: https://www.pjrc.com/teensy/td_libs_AccelStepper.html

[jacikaas]

@suresh-mali
I now reading about that funktions in http://www.airspayce.com/mikem/arduino/AccelStepper/classAccelStepper.html#a344f58fef8cc34ac5aa75ba4b665d21c

Did what You said, but getting error: no matching function for call to 'AccelStepper::runToPosition(int)'
I paste here all code, but I think I did everything without mistakes:

// Enable debug prints to serial monitor
#define MY_DEBUG

// Enable and select radio type attached
#define MY_NODE_ID 10
#define MY_RADIO_NRF24
//#define MY_RADIO_RFM69

// Enable repeater functionality for this node
//#define MY_REPEATER_FEATURE

#include <SPI.h>
#include <MySensors.h>
#include <AccelStepper.h>

#define HALFSTEP 8
#define CURTAIN_CLOSED 10000
#define CURTAIN_OPEN 0
#define CHILD_ID 1

// int powerPin = 7;

// definicje MySensors

MyMessage message(CHILD_ID, S_COVER);

// Definicja pinow silnika
#define IN1  3     // IN1
#define IN2  4     // IN2
#define IN3  5     // IN3
#define IN4  6     // IN4
 
AccelStepper stepper1(HALFSTEP, IN1, IN3, IN2, IN4);

void setup()
{
  stepper1.setMaxSpeed(1000.0);
  stepper1.setAcceleration(100.0);
  stepper1.setSpeed(200);
  stepper1.runToPosition(CURTAIN_CLOSED);
}

void presentation() 
{
  sendSketchInfo("Roller blinds", "1.0");
  present(CHILD_ID, S_COVER); // Window Cover sub-type, commands: V_UP, V_DOWN, V_STOP
}

void loop()
{
  //stepper1.run();  //Start
}

void receive(const MyMessage &message)
{
stepper1.enableOutputs ();
  // if message = V_UP start moving until closed
  if (message.type==V_UP) {
     if (stepper1.distanceToGo() == 0){
         if (stepper1.currentPosition() == CURTAIN_OPEN){
             stepper1.runToPosition(CURTAIN_CLOSED);
     // Store state in eeprom
     saveState(message.sensor, message.getBool());
     request(CHILD_ID, V_UP, 0); // request new values from controller
         }
      }
   }
   if (message.type==V_DOWN) {
       stepper1.moveTo(CURTAIN_OPEN);
       // Store state in eeprom
       saveState(message.sensor, message.getBool());
       request(CHILD_ID, V_DOWN, 0); // request new values from controller   
    }
    if (message.type==V_STOP) {
        stepper1.setCurrentPosition(0);
        // Store state in eeprom
        saveState(message.sensor, message.getBool());
        request(CHILD_ID, V_STOP, 0); // request new values from controller
    }
stepper1.disableOutputs ();
}

[skywatch]

@jacikaas Sorry to revive an old thread, but did you get this resolved and if so how?

I just 3D printed my first motorised roller blind mounts and have tested with arduino stepper only.

Next is to go mysensors with it, but which way is best? Standard arduino stepper or accelstepper?

[xydix]

Okey. This is an old thread but I hope it's ok I keep it alive.
I just printed som parts for my blinds.
I use a stepper motor (28BYJ-48 with ULN2003 Driver board) and this sketch found in this thread.
The sketch is awesome.
To my quiestion.
I want to run 2 blinds at the same time from ONE node. Synchronized or maybe individual.
Is this possible?
There isn't any digital pins over for this when using button(s).
I think i saw someone using analog pin connected to the ULN2003 someware.
Is it possible to run 2 motors on one board?
Really hope somone can answer som of my question.
What modifications is needed in the sketch if this is possible.
This is the sketch I use.

/*
 PROJECT: MY Sensors curtain controller
 PROGRAMMER: AWI
 DATE: march 11, 2016
 FILE: AWI stepper1.ino
 LICENSE: Public domain

 Hardware: ATMega328p board w/ NRF24l01
	and MySensors 2.0 (Development)
		
Special:
	uses AccelStepper library
	
Summary:
	Curtain control with stepper motor. 
	Manual operation with 1 push button 
	Calibration with manual button

Remarks:
	Fixed node-id
	
Change log:
20160312 - Cleanup
*/

// Enable debug prints to serial monitor
#define MY_DEBUG 

#define MY_NODE_ID 13											// fixed node number
// Enable and select radio type attached
#define MY_RADIO_RF24
//#define MY_RADIO_RFM69

#include <SPI.h>
#include <MySensors.h> 

// stepper library
#include <AccelStepper.h>										// http://www.airspayce.com/mikem/arduino/AccelStepper/
#define HALFSTEP 8  											// Stepper uses "Halfstep" mode

// button library
// used for:
// - manual open close - single click: close/ stop/ open/ stop
// - calibration  - after long press: open calibarion- until single press - closed calibration - until single press (stop)
#include <Button.h>												// https://github.com/JChristensen/Button

#define CHILD_ID 1   											// Id of the sensor child

#define SN "Curtain control 13"
#define SV "1.0"

#define buttonPin1 7  											// Arduino pin connected to buttonPin1
#define buttonPin2 A0  											// Arduino pin connected to buttonPin2 (fixed to ground)

// Motor pin definitions
#define motorPin1  3     										// IN1 on the ULN2003 driver 1
#define motorPin2  4     										// IN2 on the ULN2003 driver 1
#define motorPin3  5     										// IN3 on the ULN2003 driver 1
#define motorPin4  6     										// IN4 on the ULN2003 driver 1

const unsigned long heartbeatInterval = 1 * 3600UL * 1000UL ;	// heartbeatinterval
unsigned long heartbeatCounter = 0 ;

//
// helper routines to store and retrieve long in mysensors EEPROM
union {															// used to convert long to bytes for EEPROM storage
	long longInt;
	uint8_t LongByte[4];
	} convLongInt ;

void saveStateL(int EEposition, long StateL){
	convLongInt.longInt = StateL ;
	for (int y = 0; y < 4 ; y++){								// convert to bytes
		saveState(EEposition + y , convLongInt.LongByte[y]) ;
		}
	Serial.print("State saved: "); Serial.println(StateL);
	}
		
long loadStateL(int EEposition){
	for (int y = 0; y < 4 ; y++){								// convert from bytes
		convLongInt.LongByte[y] = loadState(EEposition + y) ;
		}
	Serial.print("State read: "); Serial.println(convLongInt.longInt);
	return convLongInt.longInt ;
	}
	

// Initialize with pin sequence IN1-IN3-IN2-IN4 for using the AccelStepper with 28BYJ-48
AccelStepper stepper1(HALFSTEP, motorPin1, motorPin3, motorPin2, motorPin4);
// Initialize button active low, debounce and internal pull-up
Button myBtn(buttonPin1, true, true, 40);						// Initiate the button (pin, pull_up, invert, debounce_ms)

MyMessage percentageMsg(CHILD_ID, V_PERCENTAGE);				// used to send updates to controller

const long maxRun = 4000000L ;									// maximum runway
long setPosition = 0 ; 											// remembers set position, need to be saved in EEPROM
const int setPositionEE = 4 ;									// eeprom location
long openPosition = 0 ; 										// Position at open, need to be saved in EEPROM?
const int openPositionEE = setPositionEE + 4 ;					// eeprom location
long closedPosition = 120000UL ; 								// Position at full close, need to be saved in EEPROM
const int closedPositionEE = openPositionEE + 4 ;				// eeprom location

unsigned long idleTimer = millis() ;							// return to idle timer
unsigned long idleTime = 100000UL ;								// return to idle after 100 secs

unsigned long printTimer = millis() ;							// print timer
unsigned long printTime = 1000UL ;								// print after 1 secs

enum position_t {Open, Close, Idle, Running} ;
position_t lastDirection = Open ; 								// lastDirection only for buttonpress
position_t runStatus = Idle ;									// indicates current status for running motor. used for status reporting to controller

enum State_t {sIdle, sCalibrateOpen, sCalibrateClose} ;
State_t State = sIdle ;


void setup() {
	// setup buttons
	pinMode(buttonPin1, OUTPUT);
	stepper1.setMaxSpeed(2000.0);
	stepper1.setAcceleration(1000.0);
	//saveStateL(closedPositionEE, closedPosition) ; 			// INIT: save closed position in EEPROM
	closedPosition = loadStateL(closedPositionEE) ;				// need to get last values from EEPROM and assume the current position is correct
	setPosition = loadStateL(setPositionEE) ;
	stepper1.setCurrentPosition(setPosition );
}//--(end setup )---

void presentation() {
  present(CHILD_ID, S_COVER, "Curtain");						// Window Cover sub-type, commands: V_UP, V_DOWN, V_STOP

  // Register the LED Dimmable Light with the gateway
  sendSketchInfo(SN, SV);
}


void loop() {
unsigned int now = millis() ;								// current time for loop
// simple state machine for button press
	myBtn.read();  
	switch (State) {
        // Idle state, waiting for some action
		// - button press
		// - idleTimer
        case sIdle:                
            if (myBtn.wasReleased()){						// idle
				Serial.println("Button release") ;
				// if running stop
				if (stepper1.isRunning()){
					setPosition = stepper1.currentPosition();
					stepper1.moveTo(setPosition) ;			// move to current position (was already there..)
				} else if (lastDirection == Open) {
					stepper1.moveTo(closedPosition) ;
					lastDirection = Close ;
				} else {									// lastDirection == Close
					stepper1.moveTo(openPosition) ;
					lastDirection = Open ;
				}	
			} else if (myBtn.pressedFor(3000)){				// move to calibratete state with long press
				Serial.println("Button press long") ;
				idleTimer = now ;							// return to idle after ...
				State = sCalibrateOpen ;
				stepper1.move(-maxRun) ;					// let the stepper open with maximum
				}
			break ;
		// if not running and last action was open close ;  else open
		// if longpress Calibrate open
        case sCalibrateOpen:           						// calibration going on     
			if (myBtn.wasPressed()){
				stepper1.setCurrentPosition(0 );		// set new 0 position ??
				openPosition = setPosition = 0 ;
				State = sCalibrateClose ;					// next is close calibarion
				stepper1.move(maxRun) ;						// let the stepper close with maximum
			} else if (now > idleTimer + idleTime) {		// timer expired -> abort calibration
				State = sIdle ;
			}
			break ;
        case sCalibrateClose:								// calibrate closed position, end with keypress
			if (myBtn.wasPressed())	{
				closedPosition = setPosition = stepper1.currentPosition() ;
				saveStateL(closedPositionEE, closedPosition) ; // save closed position in EEPROM
				State = sIdle ;
				stepper1.moveTo(openPosition) ;				// return to open after calibration
			} else if (now > idleTimer + idleTime) {		// timer expired -> abort calibration
				State = sIdle ;
			}
			break ;
		default :
			break ;
		}
	// power off stepper if not running (no need to reenable))
	if (!stepper1.isRunning()){
		if (runStatus != Idle){								// there was a change in runningstatus, so report to controller
			setPosition = stepper1.currentPosition() ;		// store in EEPROM and report ready to controller
			saveStateL(setPositionEE, setPosition) ;
			send( percentageMsg.set((100 * setPosition)/(closedPosition - openPosition))) ;
			runStatus = Idle ;
		}
		stepper1.disableOutputs();
	} else {
		runStatus = Running ;
	}
	stepper1.run();
	/*
	if (printTimer++ > now + printTime){
		printTimer = now ;
		Serial.println(stepper1.currentPosition());
		}
	*/
}

// This is called when a message is received 
void receive(const MyMessage &message) {
// We only expect few types of messages from controller, check which
  switch (message.type) {
	case V_PERCENTAGE:
	// Curtain should be opened
	stepper1.moveTo(message.getInt() * (closedPosition - openPosition)/100);
	Serial.print("Message: "); Serial.print(message.sensor); Serial.print(" , value: % "); Serial.println( message.getInt());
	Serial.print("Moving to: "); Serial.println(message.getInt() * (closedPosition - openPosition)/100);
	break ;
	case V_STATUS:
	// Curtain should be opened or closed full
	stepper1.moveTo((message.getInt() == HIGH)?openPosition:closedPosition);
	Serial.print("Message - valid: ");
	Serial.print(message.sensor);
	Serial.print(" , value: % ");
	break ;
	default : 
	// not recognizable message
	Serial.print("Message - valid: ");
	Serial.print(message.sensor);
	Serial.print(", Unrecognized ");
	break ;
	}
  }

[TheoL]

You can use an I/O expander like an MCP23017 which is a 16 port expander or a 8 port expander. They're cheap. Keep in mind they consume 1 mAmp. I'm currently working on a product to overcome that power issue for a battery powered Node. Will try to post about it in a while

[TON RIJNAARD]

@xydix
Hello @xydix do you have the curtain working with the sketch above?
I don't get the button working on pin 7.
Witch button library do you use?
I have the library witch is in the sketch, i only must change Bbutton.h in LC_Button.h.
Is that maby my problem.
I hope u can help me.
Greatz Ton

[SENIORA]

@barduino said in Curtain Control Node.:

@Suresh-Mali

DC Motor, very interesting!

Do you have end stops? The sketch doesn't open for some reason...

Cheers

I have been working on a similar project last week. The mechanics and ´looks´ are the most difficult part for me.

[xydix]

@ton-rijnaard
Hi. This was a problem for me to. The reason is the library changed name and updates was made.
I use the library version 0.9.
I have like zero skills in arduino. If you use the old library the button will work with the sketch i posted a moth ago.
Looke here: https://github.com/JChristensen/JC_Button/releases
Maybe some of the other older releases will work. Don't remember why o choose V0.9
Look at 2.0.0, "This is a major release that is not backwards-compatible with previous releases."

[xydix]

@xydix
To answer my own question the stepper runs fine from the analog pins.
Next step is to find some intersted in the same thing and see if we could get the sketch adjusted to run two steppers.
I will try when i get some time but I guess I will have problem to clone the calibration and store-to-eerprom-part.

[adds666]

@AWI Sorry for butting in to an old thread, but automating my blinds is top priority!

I've copied your sketch and have everything setup - however, I have eratic behaviour and a few questions:

void setup() {
  // setup buttons
  pinMode(buttonPin1, OUTPUT);
  stepper1.setMaxSpeed(2000.0);
  stepper1.setAcceleration(1000.0);
  //saveStateL(closedPositionEE, closedPosition) ;      // INIT: save closed position in EEPROM
  closedPosition = loadStateL(closedPositionEE) ;       // need to get last values from EEPROM and assume the current position is correct
  setPosition = loadStateL(setPositionEE) ;
  stepper1.setCurrentPosition(setPosition );
}//--(end setup )---

• Should the pinMode on buttonPin1 actually be an INPUT?

• Can you please describe how to go about calibrating the system?

• Does the //saveStateL(closedPositionEE, closedPosition);
  need uncommenting for one boot of the arduino and the blind closed - then the sketch re-uploading with it commented again?

Your help is greatly appreciated as I have a twitching motor and feel I'm almost there!

[xydix]

@adds666 What i can tell it was a long time since @AWI was active here.
I use this sketch with my first bild since a couple of days.
For me it works like a charm. But in my case I control the motor from analog pins just to test and it seems OK.
No problem with the button.
The only thing I don't like, is the calibration.
I my case, using this on a blind, when calibrating, first it goes down, then i press the button, the blind stops at once and change it's direction and goes up. But when i reach the top level and want to stop it and save the state, it stops slow and pass the point i pressed the button and then reverse to the right spot. Problem is, the blind can't go further because it is in the top position.
If it would be the other way around it wouldn't be a problem.
Maybe i have the motor one the "wrong" side of the blind but when it is down the "downkey" in my HA is greyed out.
When it i up the "upkey" it greyed out so that seems right.

What is not working in your case?
What motor do you use? I use 28BYJ-48 with ULN2003 and had to set stepper1.setMaxSpeed(2000.0); to stepper1.setMaxSpeed(1000.0); because the motor "slipped" at a speed of 2000.
Like i wrote earlier in the thread I tried to figure out how to "dublicate" the sketch and ute it for two motors.
I really don't know where to start to get this done. It would be awesome to use one arduino with two blinds.

[adds666]

Hi @xydix , glad to hear you have the sketch working properly. Do you have the pinmode as OUTPUT or did you change to input?

And do you still have the saveStateL(closedPositionEE, closedPosition); line commented out?

If I change the pinMode to input, I get the system powered up and connected to the mysensors gateway fine - serial print repeats 'Button Release'. If I short press the button, the system does nothing. If I hold the button for 3000ms serial print reads 'Button Long Press' and the motor turns - however If I let go of the button, the motor stop and system returns to its 'button release' state.

I'm not able to get the system in to calibration mode.

[xydix]

@adds666
I am still in "testing mode".
I had some problems with the node, it stoped receiving messages but did always work with the button.
Yesterday i built a new node and uploaded the sketch and it seems to work better.
Here is the sketch i use, I changed the pin for the button due to missing digital pins on my pcb.
And I am back on using digital pins for the stepper driver for the same reason.
I greyed out buttonpin 2. I don't think it is needed.
I also greyed out the heartbeat-part as I had problems. Just for testing. Don't know if it is suitable when using Home Assistant.

/*
 PROJECT: MY Sensors curtain controller
 PROGRAMMER: AWI
 DATE: march 11, 2016
 FILE: AWI stepper1.ino
 LICENSE: Public domain

 Hardware: ATMega328p board w/ NRF24l01
  and MySensors 2.0 (Development)
    
Special:
  uses AccelStepper library
  
Summary:
  Curtain control with stepper motor. 
  Manual operation with 1 push button 
  Calibration with manual button

Remarks:
  Fixed node-id
  
Change log:
20160312 - Cleanup
*/

// Enable debug prints to serial monitor
#define MY_DEBUG 

#define MY_NODE_ID 8                     // fixed node number
// Enable and select radio type attached
#define MY_RADIO_RF24
#define MY_RF24_PA_LEVEL RF24_PA_HIGH
//#define MY_RADIO_RFM69

#include <SPI.h>
#include <MySensors.h> 

// stepper library
#include <AccelStepper.h>                   // http://www.airspayce.com/mikem/arduino/AccelStepper/
#define HALFSTEP 8                        // Stepper uses "Halfstep" mode

// button library
// used for:
// - manual open close - single click: close/ stop/ open/ stop
// - calibration  - after long press: open calibarion- until single press - closed calibration - until single press (stop)
#include <Button.h>                       // https://github.com/JChristensen/Button - Använd gammal version. testat med V0.9 och det funkar

#define CHILD_ID 1                        // Id of the sensor child

#define SN "Curtain control"
#define SV "1.0"

#define buttonPin1 A0                        // Arduino pin connected to buttonPin1
//#define buttonPin2 A0                       // Arduino pin connected to buttonPin2 (fixed to ground)

// Motor pin definitions
#define motorPin1  2                        // IN1 on the ULN2003 driver 1
#define motorPin2  3                        // IN2 on the ULN2003 driver 1
#define motorPin3  5                        // IN3 on the ULN2003 driver 1
#define motorPin4  6                        // IN4 on the ULN2003 driver 1

//const unsigned long heartbeatInterval = 1 * 3600UL * 1000UL ; // heartbeatinterval
//unsigned long heartbeatCounter = 0 ;

//
// helper routines to store and retrieve long in mysensors EEPROM
union {                             // used to convert long to bytes for EEPROM storage
  long longInt;
  uint8_t LongByte[4];
  } convLongInt ;

void saveStateL(int EEposition, long StateL){
  convLongInt.longInt = StateL ;
  for (int y = 0; y < 4 ; y++){               // convert to bytes
    saveState(EEposition + y , convLongInt.LongByte[y]) ;
    }
  Serial.print("State saved: "); Serial.println(StateL);
  }
    
long loadStateL(int EEposition){
  for (int y = 0; y < 4 ; y++){               // convert from bytes
    convLongInt.LongByte[y] = loadState(EEposition + y) ;
    }
  Serial.print("State read: "); Serial.println(convLongInt.longInt);
  return convLongInt.longInt ;
  }
  

// Initialize with pin sequence IN1-IN3-IN2-IN4 for using the AccelStepper with 28BYJ-48
AccelStepper stepper1(HALFSTEP, motorPin1, motorPin3, motorPin2, motorPin4);
// Initialize button active low, debounce and internal pull-up
Button myBtn(buttonPin1, true, true, 40);           // Initiate the button (pin, pull_up, invert, debounce_ms)

MyMessage percentageMsg(CHILD_ID, V_PERCENTAGE);        // used to send updates to controller

const long maxRun = 4000000L ;                  // maximum runway
long setPosition = 0 ;                      // remembers set position, need to be saved in EEPROM
const int setPositionEE = 4 ;                 // eeprom location
long openPosition = 0 ;                     // Position at open, need to be saved in EEPROM?
const int openPositionEE = setPositionEE + 4 ;          // eeprom location
long closedPosition = 120000UL ;                // Position at full close, need to be saved in EEPROM
const int closedPositionEE = openPositionEE + 4 ;       // eeprom location

unsigned long idleTimer = millis() ;              // return to idle timer
unsigned long idleTime = 100000UL ;               // return to idle after 100 secs

unsigned long printTimer = millis() ;             // print timer
unsigned long printTime = 1000UL ;                // print after 1 secs

enum position_t {Open, Close, Idle, Running} ;
position_t lastDirection = Open ;                 // lastDirection only for buttonpress
position_t runStatus = Idle ;                 // indicates current status for running motor. used for status reporting to controller

enum State_t {sIdle, sCalibrateOpen, sCalibrateClose} ;
State_t State = sIdle ;


void setup() {
  // setup buttons
  pinMode(buttonPin1, OUTPUT);
  stepper1.setMaxSpeed(1000.0);
  stepper1.setAcceleration(1000.0);
  //saveStateL(closedPositionEE, closedPosition) ;      // INIT: save closed position in EEPROM
  closedPosition = loadStateL(closedPositionEE) ;       // need to get last values from EEPROM and assume the current position is correct
  setPosition = loadStateL(setPositionEE) ;
  stepper1.setCurrentPosition(setPosition );
}//--(end setup )---

void presentation() {
  present(CHILD_ID, S_COVER, "Curtain");            // Window Cover sub-type, commands: V_UP, V_DOWN, V_STOP

  // Register the LED Dimmable Light with the gateway
  sendSketchInfo(SN, SV);
}


void loop() {
unsigned int now = millis() ;               // current time for loop
// simple state machine for button press
  myBtn.read();  
  switch (State) {
        // Idle state, waiting for some action
    // - button press
    // - idleTimer
        case sIdle:                
            if (myBtn.wasReleased()){           // idle
        Serial.println("Button release") ;
        // if running stop
        if (stepper1.isRunning()){
          setPosition = stepper1.currentPosition();
          stepper1.moveTo(setPosition) ;      // move to current position (was already there..)
        } else if (lastDirection == Open) {
          stepper1.moveTo(closedPosition) ;
          lastDirection = Close ;
        } else {                  // lastDirection == Close
          stepper1.moveTo(openPosition) ;
          lastDirection = Open ;
        } 
      } else if (myBtn.pressedFor(3000)){       // move to calibratete state with long press
        Serial.println("Button press long") ;
        idleTimer = now ;             // return to idle after ...
        State = sCalibrateOpen ;
        stepper1.move(-maxRun) ;          // let the stepper open with maximum
        }
      break ;
    // if not running and last action was open close ;  else open
    // if longpress Calibrate open
        case sCalibrateOpen:                      // calibration going on     
      if (myBtn.wasPressed()){
        stepper1.setCurrentPosition(0 );    // set new 0 position ??
        openPosition = setPosition = 0 ;
        State = sCalibrateClose ;         // next is close calibarion
        stepper1.move(maxRun) ;           // let the stepper close with maximum
      } else if (now > idleTimer + idleTime) {    // timer expired -> abort calibration
        State = sIdle ;
      }
      break ;
        case sCalibrateClose:               // calibrate closed position, end with keypress
      if (myBtn.wasPressed()) {
        closedPosition = setPosition = stepper1.currentPosition() ;
        saveStateL(closedPositionEE, closedPosition) ; // save closed position in EEPROM
        State = sIdle ;
        stepper1.moveTo(openPosition) ;       // return to open after calibration
      } else if (now > idleTimer + idleTime) {    // timer expired -> abort calibration
        State = sIdle ;
      }
      break ;
    default :
      break ;
    }
  // power off stepper if not running (no need to reenable))
  if (!stepper1.isRunning()){
    if (runStatus != Idle){               // there was a change in runningstatus, so report to controller
      setPosition = stepper1.currentPosition() ;    // store in EEPROM and report ready to controller
      saveStateL(setPositionEE, setPosition) ;
      send( percentageMsg.set((100 * setPosition)/(closedPosition - openPosition))) ;
      runStatus = Idle ;
    }
    stepper1.disableOutputs();
  } else {
    runStatus = Running ;
  }
  stepper1.run();
  /*
  if (printTimer++ > now + printTime){
    printTimer = now ;
    Serial.println(stepper1.currentPosition());
    }
  */
}

// This is called when a message is received 
void receive(const MyMessage &message) {
// We only expect few types of messages from controller, check which
  switch (message.type) {
  case V_PERCENTAGE:
  // Curtain should be opened
  stepper1.moveTo(message.getInt() * (closedPosition - openPosition)/100);
  Serial.print("Message: "); Serial.print(message.sensor); Serial.print(" , value: % "); Serial.println( message.getInt());
  Serial.print("Moving to: "); Serial.println(message.getInt() * (closedPosition - openPosition)/100);
  break ;
  case V_STATUS:
  // Curtain should be opened or closed full
  stepper1.moveTo((message.getInt() == HIGH)?openPosition:closedPosition);
  Serial.print("Message - valid: ");
  Serial.print(message.sensor);
  Serial.print(" , value: % ");
  break ;
  default : 
  // not recognizable message
  Serial.print("Message - valid: ");
  Serial.print(message.sensor);
  Serial.print(", Unrecognized ");
  break ;
  }
  }