Hi all!

Recently I tried my hand out at MySensors as I was looking for a low-power solution for small sensors where power sockets were not readily available.

I started off by creating a simple Serial Gateway to be connected to the Rasppi running HA OS with the YAML configuration as shown:

mysensors: 
  gateways:
    - device: '/dev/ttyUSB0'
      persistence_file: 'mysensors/mysensors.json'
      baud_rate: 115200
  optimistic: false
  persistence: true
  version: 2.3.2
    
logger: 
  default: error
  logs:
    mysensors: debug
    homeassistant.components.mysensors: debug

I uploaded the standard Serial Gateway sketch to the Arduino Nano serving as the Serial Gateway after doing some minor edits to the inclusion mode and LED indicators:

(Removed description text)

// Enable debug prints to serial monitor
#define MY_DEBUG

// Enable and select radio type attached
#define MY_RADIO_RF24
//#define MY_RADIO_NRF5_ESB
//#define MY_RADIO_RFM69
//#define MY_RADIO_RFM95

// Set LOW transmit power level as default, if you have an amplified NRF-module and
// power your radio separately with a good regulator you can turn up PA level.
#define MY_RF24_PA_LEVEL RF24_PA_LOW

// Enable serial gateway
#define MY_GATEWAY_SERIAL

// Define a lower baud rate for Arduinos running on 8 MHz (Arduino Pro Mini 3.3V & SenseBender)
#if F_CPU == 8000000L
#define MY_BAUD_RATE 38400
#endif

// Enable inclusion mode
#define MY_INCLUSION_MODE_FEATURE
// Enable Inclusion mode button on gateway
//#define MY_INCLUSION_BUTTON_FEATURE

// Inverses behavior of inclusion button (if using external pullup)
//#define MY_INCLUSION_BUTTON_EXTERNAL_PULLUP

// Set inclusion mode duration (in seconds)
#define MY_INCLUSION_MODE_DURATION 60
// Digital pin used for inclusion mode button
//#define MY_INCLUSION_MODE_BUTTON_PIN  3

// Set blinking period
#define MY_DEFAULT_LED_BLINK_PERIOD 300

// Inverses the behavior of leds
//#define MY_WITH_LEDS_BLINKING_INVERSE

// Flash leds on rx/tx/err
// Uncomment to override default HW configurations
//#define MY_DEFAULT_ERR_LED_PIN 4  // Error led pin
//#define MY_DEFAULT_RX_LED_PIN  6  // Receive led pin
//#define MY_DEFAULT_TX_LED_PIN  5  // the PCB, on board LED

#include <MySensors.h>

void setup()
{
	// Setup locally attached sensors
}

void presentation()
{
	// Present locally attached sensors
}

void loop()
{
	// Send locally attached sensor data here
}

as well as a simple LightSensor example sketch to an arduino nano via breadboard:

// Enable debug prints to serial monitor
#define MY_DEBUG

// Enable and select radio type attached
#define MY_RADIO_RF24
//#define MY_RADIO_NRF5_ESB
//#define MY_RADIO_RFM69
//#define MY_RADIO_RFM95

#include <MySensors.h>

#define CHILD_ID_LIGHT 0
#define LIGHT_SENSOR_ANALOG_PIN 0

uint32_t SLEEP_TIME = 30000; // Sleep time between reads (in milliseconds)

MyMessage msg(CHILD_ID_LIGHT, V_LIGHT_LEVEL);
int lastLightLevel;


void presentation()
{
	// Send the sketch version information to the gateway and Controller
	sendSketchInfo("Light Sensor", "1.0");

	// Register all sensors to gateway (they will be created as child devices)
	present(CHILD_ID_LIGHT, S_LIGHT_LEVEL);
}

void loop()
{
	int16_t lightLevel = (1023-analogRead(LIGHT_SENSOR_ANALOG_PIN))/10.23;
	Serial.println(lightLevel);
	if (lightLevel != lastLightLevel) {
		send(msg.set(lightLevel));
		lastLightLevel = lightLevel;
	}
	sleep(SLEEP_TIME);
}

For both setups power for the Radio module is being sourced from the 3v3 pins of the respective nanos.

Viewing the Serial log from the node, I observed that the node was consistently failing to find the parent and so I moved the two setups closer and also hooked up the gateway to another instance of IDE to view the serial logs from there. It seems that for some reason only very small snippets of comms are being transferred sporadically between the two.

The serial logs on the node are as follows:

| |\/| | | | \___ \ / _ \ `_ \/ __|/ _ \| `__/ __|
| |  | | |_| |___| |  __/ | | \__ \  _  | |  \__ \
|_|  |_|\__, |____/ \___|_| |_|___/\___/|_|  |___/
        |___/                      2.3.2

16 MCO:BGN:INIT NODE,CP=RNNNA---,FQ=16,REL=255,VER=2.3.2
26 TSM:INIT
28 TSF:WUR:MS=0
34 TSM:INIT:TSP OK
36 TSM:FPAR
38 ?TSF:MSG:SEND,255-255-255-255,s=255,c=3,t=7,pt=0,l=0,sg=0,ft=0,st=OK:
2048 !TSM:FPAR:NO REPLY
2050 TSM:FPAR
2052 ?TSF:MSG:SEND,255-255-255-255,s=255,c=3,t=7,pt=0,l=0,sg=0,ft=0,st=OK:
4060 !TSM:FPAR:NO REPLY
4062 TSM:FPAR
4064 ?TSF:MSG:SEND,255-255-255-255,s=255,c=3,t=7,pt=0,l=0,sg=0,ft=0,st=OK:
6072 !TSM:FPAR:NO REPLY
6074 TSM:FPAR
6076 ?TSF:MSG:SEND,255-255-255-255,s=255,c=3,t=7,pt=0,l=0,sg=0,ft=0,st=OK:
8084 !TSM:FPAR:FAIL
8085 TSM:FAIL:CNT=1
8087 TSM:FAIL:DIS
8089 TSF:TDI:TSL

and for the gateway:

0;255;3;0;9;0 MCO:BGN:INIT GW,CP=RNNGA---,FQ=16,REL=255,VER=2.3.2
0;255;3;0;9;5 TSM:INIT
0;255;3;0;9;7 TSF:WUR:MS=0
0;255;3;0;9;15 TSM:INIT:TSP OK
0;255;3;0;9;18 TSM:INIT:GW MODE
0;255;3;0;9;21 TSM:READY:ID=0,PAR=0,DIS=0
0;255;3;0;9;24 MCO:REG:NOT NEEDED
0;255;3;0;14;Gateway startup complete.
0;255;0;0;18;2.3.2
0;255;3;0;9;28 MCO:BGN:STP
0;255;3;0;9;35 MCO:BGN:INIT OK,TSP=1
0;255;3;0;9;38 TSM:READY:NWD REQ
0;255;3;0;9;45 ?TSF:MSG:SEND,0-0-255-255,s=255,c=3,t=20,pt=0,l=0,sg=0,ft=0,st=OK:
0;255;3;0;9;84532 TSF:MSG:READ,255-255-255,s=255,c=3,t=7,pt=0,l=0,sg=0:
0;255;3;0;9;84538 TSF:MSG:BC
0;255;3;0;9;84540 TSF:MSG:FPAR REQ,ID=255
0;255;3;0;9;84544 TSF:PNG:SEND,TO=0
0;255;3;0;9;84547 TSF:CKU:OK
0;255;3;0;9;84550 TSF:MSG:GWL OK
0;255;3;0;9;85140 ?TSF:MSG:SEND,0-0-255-255,s=255,c=3,t=8,pt=1,l=1,sg=0,ft=0,st=OK:0
0;255;3;0;9;206804 TSF:MSG:READ,255-255-255,s=255,c=3,t=7,pt=0,l=0,sg=0:
0;255;3;0;9;206812 TSF:MSG:BC
0;255;3;0;9;206814 TSF:MSG:FPAR REQ,ID=255
0;255;3;0;9;206818 TSF:PNG:SEND,TO=0
0;255;3;0;9;206821 TSF:CKU:OK
0;255;3;0;9;206824 TSF:MSG:GWL OK
0;255;3;0;9;207832 ?TSF:MSG:SEND,0-0-255-255,s=255,c=3,t=8,pt=1,l=1,sg=0,ft=0,st=OK:0
0;255;3;0;9;210833 TSF:MSG:READ,255-255-255,s=255,c=3,t=7,pt=0,l=0,sg=0:
0;255;3;0;9;210839 TSF:MSG:BC
0;255;3;0;9;210842 TSF:MSG:FPAR REQ,ID=255
0;255;3;0;9;210846 TSF:CKU:OK,FCTRL
0;255;3;0;9;210849 TSF:MSG:GWL OK
0;255;3;0;9;211787 ?TSF:MSG:SEND,0-0-255-255,s=255,c=3,t=8,pt=1,l=1,sg=0,ft=0,st=OK:0
0;255;3;0;9;279139 TSF:MSG:READ,255-255-255,s=255,c=3,t=7,pt=0,l=0,sg=0:
0;255;3;0;9;279145 TSF:MSG:BC
0;255;3;0;9;279147 TSF:MSG:FPAR REQ,ID=255
0;255;3;0;9;279151 TSF:PNG:SEND,TO=0
0;255;3;0;9;279154 TSF:CKU:OK
0;255;3;0;9;279157 TSF:MSG:GWL OK
0;255;3;0;9;279795 ?TSF:MSG:SEND,0-0-255-255,s=255,c=3,t=8,pt=1,l=1,sg=0,ft=0,st=OK:0
0;255;3;0;9;281152 TSF:MSG:READ,255-255-255,s=255,c=3,t=7,pt=0,l=0,sg=0:
0;255;3;0;9;281159 TSF:MSG:BC
0;255;3;0;9;281161 TSF:MSG:FPAR REQ,ID=255
0;255;3;0;9;281165 TSF:CKU:OK,FCTRL
0;255;3;0;9;281168 TSF:MSG:GWL OK
0;255;3;0;9;281769 ?TSF:MSG:SEND,0-0-255-255,s=255,c=3,t=8,pt=1,l=1,sg=0,ft=0,st=OK:0
0;255;3;0;9;283166 TSF:MSG:READ,255-255-255,s=255,c=3,t=7,pt=0,l=0,sg=0:
0;255;3;0;9;283172 TSF:MSG:BC
0;255;3;0;9;283175 TSF:MSG:FPAR REQ,ID=255
0;255;3;0;9;283180 TSF:CKU:OK,FCTRL
0;255;3;0;9;283183 TSF:MSG:GWL OK
0;255;3;0;9;283751 ?TSF:MSG:SEND,0-0-255-255,s=255,c=3,t=8,pt=1,l=1,sg=0,ft=0,st=OK:0
0;255;3;0;9;297221 TSF:MSG:READ,255-255-255,s=255,c=3,t=7,pt=0,l=0,sg=0:
0;255;3;0;9;297228 TSF:MSG:BC
0;255;3;0;9;297230 TSF:MSG:FPAR REQ,ID=255
0;255;3;0;9;297234 TSF:PNG:SEND,TO=0
0;255;3;0;9;297237 TSF:CKU:OK
0;255;3;0;9;297240 TSF:MSG:GWL OK
0;255;3;0;9;297528 ?TSF:MSG:SEND,0-0-255-255,s=255,c=3,t=8,pt=1,l=1,sg=0,ft=0,st=OK:0
0;255;3;0;9;363339 TSF:MSG:READ,255-255-255,s=255,c=3,t=7,pt=0,l=0,sg=0:
0;255;3;0;9;363346 TSF:MSG:BC
0;255;3;0;9;363348 TSF:MSG:FPAR REQ,ID=255
0;255;3;0;9;363353 TSF:PNG:SEND,TO=0
0;255;3;0;9;363356 TSF:CKU:OK
0;255;3;0;9;363359 TSF:MSG:GWL OK
0;255;3;0;9;364230 ?TSF:MSG:SEND,0-0-255-255,s=255,c=3,t=8,pt=1,l=1,sg=0,ft=0,st=OK:0
0;255;3;0;5;1
0;255;3;0;9;435504 TSF:MSG:READ,255-255-255,s=255,c=3,t=7,pt=0,l=0,sg=0:
0;255;3;0;9;435510 TSF:MSG:BC
0;255;3;0;9;435513 TSF:MSG:FPAR REQ,ID=255
0;255;3;0;9;435516 TSF:PNG:SEND,TO=0
0;255;3;0;9;435520 TSF:CKU:OK
0;255;3;0;9;435522 TSF:MSG:GWL OK
0;255;3;0;9;435853 ?TSF:MSG:SEND,0-0-255-255,s=255,c=3,t=8,pt=1,l=1,sg=0,ft=0,st=OK:0
0;255;3;0;5;0
0;255;3;0;9;501621 TSF:MSG:READ,255-255-255,s=255,c=3,t=7,pt=0,l=0,sg=0:
0;255;3;0;9;501627 TSF:MSG:BC
0;255;3;0;9;501630 TSF:MSG:FPAR REQ,ID=255
0;255;3;0;9;501635 TSF:PNG:SEND,TO=0
0;255;3;0;9;501638 TSF:CKU:OK
0;255;3;0;9;501641 TSF:MSG:GWL OK
0;255;3;0;9;502553 ?TSF:MSG:SEND,0-0-255-255,s=255,c=3,t=8,pt=1,l=1,sg=0,ft=0,st=OK:0
0;255;3;0;9;505652 TSF:MSG:READ,255-255-255,s=255,c=3,t=7,pt=0,l=0,sg=0:
0;255;3;0;9;505658 TSF:MSG:BC
0;255;3;0;9;505661 TSF:MSG:FPAR REQ,ID=255
0;255;3;0;9;505664 TSF:CKU:OK,FCTRL
0;255;3;0;9;505668 TSF:MSG:GWL OK
0;255;3;0;9;506512 ?TSF:MSG:SEND,0-0-255-255,s=255,c=3,t=8,pt=1,l=1,sg=0,ft=0,st=OK:0
0;255;3;0;9;639902 TSF:MSG:READ,255-255-255,s=255,c=3,t=7,pt=0,l=0,sg=0:
0;255;3;0;9;639908 TSF:MSG:BC
0;255;3;0;9;639911 TSF:MSG:FPAR REQ,ID=255
0;255;3;0;9;639915 TSF:PNG:SEND,TO=0
0;255;3;0;9;639919 TSF:CKU:OK
0;255;3;0;9;639921 TSF:MSG:GWL OK
0;255;3;0;9;640875 ?TSF:MSG:SEND,0-0-255-255,s=255,c=3,t=8,pt=1,l=1,sg=0,ft=0,st=OK:0
0;255;3;0;9;842288 TSF:MSG:READ,255-255-255,s=255,c=3,t=7,pt=0,l=0,sg=0:
0;255;3;0;9;842294 TSF:MSG:BC
0;255;3;0;9;842297 TSF:MSG:FPAR REQ,ID=255
0;255;3;0;9;842300 TSF:PNG:SEND,TO=0
0;255;3;0;9;842304 TSF:CKU:OK
0;255;3;0;9;842306 TSF:MSG:GWL OK
0;255;3;0;9;842894 ?TSF:MSG:SEND,0-0-255-255,s=255,c=3,t=8,pt=1,l=1,sg=0,ft=0,st=OK:0
0;255;3;0;9;900008 TSF:SAN:OK
0;255;3;0;9;976541 TSF:MSG:READ,255-255-255,s=255,c=3,t=7,pt=0,l=0,sg=0:
0;255;3;0;9;976547 TSF:MSG:BC
0;255;3;0;9;976550 TSF:MSG:FPAR REQ,ID=255
0;255;3;0;9;976555 TSF:PNG:SEND,TO=0
0;255;3;0;9;976558 TSF:CKU:OK
0;255;3;0;9;976560 TSF:MSG:GWL OK
0;255;3;0;9;977257 ?TSF:MSG:SEND,0-0-255-255,s=255,c=3,t=8,pt=1,l=1,sg=0,ft=0,st=OK:0

Occasionally though some data gets through because the green light on the gateway LED will flash and it is also reflected in the gateway logs but there is no consistency or pattern to which I can predict when this will happen.

Things that I have tried:

• Soldering the nRF24L01 to the pins of the board via perfboard to eliminate issues with the jumper wires
• attaching 100uF between 3v3 and GND

Things I am thinking of trying:

• Using a dedicated 3.3V supply for the nRF24L01s
• giving up on 2.4GHz altogether and trying my luck with 433mHz

At this juncture I highly suspect the issue to be with the quality of my nRF24L01 or the power supply. However if someone has encountered this issue before and would be able to share their experience, I would be more than grateful as this would save me a lot on guesswork.

Thanks!

Cheers,
Ethan

Hi there,

Thanks for the replies! It seemed that the culprit was my stupidity. I forgot that the AccelStepper library's stepper.moveTo() function's argument was the absolute rather than the relative position of the stepper motor. As such my code would end up trying to push the stepper motor to extreme values (because I thought I needed to input a negative to move to the left etc) and this caused weird things to happen, most likely this crashing as well.

In any case I'm glad the issue has been resolved.

@electrik the programme takes up 72% of storage space and 64% of dynamic memory, so I will definitely cut out the Serial logs once I am done debugging.

@mfalkvidd yikes you're right it seems I had forgotten to include the function to run the steppers. Anyways for reference sake I'll drop my final code here (from the last I tested it is working but with the minor issue of the motors having to travel to the end of their move before it can reverse direction, which I have no clue why it happens but I don't mind it):

#include <AccelStepper.h>

const byte dirPin1 = A0;
const byte stepPin1 = A1;
const byte enPin1 = A2;
const byte dirPin2 = A3;
const byte stepPin2 = A4;
const byte enPin2 = A5;
const byte dirPin3 = 4;
const byte stepPin3 = 3;
const byte enPin3 = 8;
const byte dirPin4 = 7;
const byte stepPin4 = 6;
const byte enPin4 = 5;
const bool enOne = true, enTwo = true, enThree = true, enFour = true;
const bool dirOne = true, dirTwo = true, dirThree = true, dirFour = true;
const int stepmmOne = 160, stepmmTwo = 160, stepmmThree = 160, stepmmFour = 160;

const byte endstopup = A6, endstopdown = A7;

//long timer = 0;

#define motorInterfaceType 1
 AccelStepper stepperOne(motorInterfaceType, stepPin1, dirPin1);
 AccelStepper stepperTwo(motorInterfaceType, stepPin2, dirPin2);
 AccelStepper stepperThree(motorInterfaceType, stepPin3, dirPin3);
 AccelStepper stepperFour(motorInterfaceType, stepPin4, dirPin4);

#define MY_DEBUG
#define MY_RADIO_RF24
#include <MySensors.h>
#define CHILD_ID 0
//#define MY_TRANSPORT_WAIT_READY_MS 1000

int currentShutterLevel = 0, desiredShutterLevel = 0;
enum currentState {
  STOP,
  UP,
  DOWN,
};
static int currentState = STOP; //the initial state is STOP because it is not moving
boolean requested = false;
boolean isAlrMoving = false;
boolean initialValueSent = false;
boolean receivedStop = false;

int totalDist = 150; //in mm
int stepsPerMM = 160;
int currentSteps = 0;
int desiredSteps = 0;
int stepsToMove = 0, oldStepsToMove = 0;
int levelsToMove = 0;
int levelsToGo = 0;
int savedShutterLevel = 0;
int stepSpeed = 50;
int stepAccel = 1000;

MyMessage upMessage(CHILD_ID, V_UP);
MyMessage downMessage(CHILD_ID, V_DOWN);
MyMessage stopMessage(CHILD_ID, V_STOP);
MyMessage percMessage(CHILD_ID, V_PERCENTAGE);

void sendState(){
  #ifdef MY_DEBUG
    Serial.println("Sending states: ");
    Serial.print("UP: "); Serial.println(currentState == UP);
    Serial.print("DOWN: "); Serial.println(currentState == DOWN);
    Serial.print("STOP: "); Serial.println(currentState == STOP);
    Serial.print("PERC: "); 
    Serial.println(currentShutterLevel);
  #endif
  send(upMessage.set(currentState == UP));
  send(downMessage.set(currentState == DOWN));
  send(stopMessage.set(currentState == STOP));
  send(percMessage.set(desiredShutterLevel));
}
void setup() {
Serial.begin(115200);
stepperOne.setEnablePin(enPin1);
stepperOne.setPinsInverted(dirOne,false,enOne);
stepperOne.setMaxSpeed(stepSpeed);
stepperOne.setAcceleration(stepAccel);
//stepperOne.setSpeed(50);

stepperTwo.setEnablePin(enPin2);
stepperTwo.setPinsInverted(dirTwo,false,enTwo);
stepperTwo.setMaxSpeed(stepSpeed);
stepperTwo.setAcceleration(stepAccel);
//stepperTwo.setSpeed(50);

stepperThree.setEnablePin(enPin3);
stepperThree.setPinsInverted(dirThree,false,enThree);
stepperThree.setMaxSpeed(stepSpeed);
stepperThree.setAcceleration(stepAccel);
//stepperThree.setSpeed(50);;

stepperFour.setEnablePin(enPin4);
stepperFour.setPinsInverted(dirFour,false,enFour);
stepperFour.setMaxSpeed(stepSpeed);
stepperFour.setAcceleration(stepAccel);
//stepperFour.setSpeed(50);

pinMode(endstopup, INPUT_PULLUP);
pinMode(endstopdown, INPUT_PULLUP);
}

void presentation()
{
  sendSketchInfo("Hydroponics Stepper Motors", "1.0");
  wait(1000);
  present(CHILD_ID, S_COVER);
}

void loop() {
  /*if(!initialValueSent){
    #ifdef MY_DEBUG
      Serial.println("Sending initial values!");
    #endif
    sendState();
    initialValueSent = true;
  }
  */
  
  //requesting percentage of height
  if(!requested){
    request(CHILD_ID, V_PERCENTAGE);
    #ifdef MY_DEBUG
      Serial.println("Requesting initial position of lights");
    #endif
  }
    if(currentShutterLevel != desiredShutterLevel || receivedStop){ //allow the setting of new positions if a STOP is called 
    //currentShutterLevel and desiredShutterLevel are used to detect the change in parameters
    if(!isAlrMoving){ //this ensures the following code is only executed once
      enableAllSteppers();
      stepsToMove = map(desiredShutterLevel,0,100,0,totalDist*stepsPerMM);
      Serial.print("Moving to: "); Serial.println(stepsToMove);
      moveAllSteppers(stepsToMove);
      isAlrMoving = true; 
      sendState();
    }
    if(stepperOne.distanceToGo() != 0){
    } else{
        currentShutterLevel = desiredShutterLevel;
        currentState = STOP;
        sendState();
        disableAllSteppers();
    }
    receivedStop = false;
    }else{ //if desired and current are the same - either because there is no movement or when we call STOP, then check to see 
      //if there was a change in the state of STOP. If there was then send the state.
    if(receivedStop){
    sendState();
    receivedStop = false;
    }
    disableAllSteppers();
  }
  runAllSteppers();
  if(analogRead(endstopup)>10 && currentState == UP){ //if the top endstop is triggered and the shutter was moving up
      #ifdef MY_DEBUG
        Serial.println("Top Endstop has been activated!");
      #endif
    receivedStop = true;
    setCurrentPositionofAll(100);
    desiredShutterLevel = 100;
    currentShutterLevel = 100;
    currentState = STOP;
  } else if(analogRead(endstopdown)>10 && currentState == DOWN){ //if the bottom endstop is triggered and the shutter was moving down
    #ifdef MY_DEBUG
        Serial.println("Bottom Endstop has been activated!");
    #endif
    receivedStop = true;
    setCurrentPositionofAll(0);
    desiredShutterLevel = 0;
    currentShutterLevel = 0;
    currentState = STOP;
  }
 
}
void receive(const MyMessage &message)
{
#ifdef MY_DEBUG
  Serial.print("Received a message from sensor: ");
  Serial.println(String(message.sensor));
  Serial.print("Message type: ");
  Serial.println(String(message.type));
#endif
isAlrMoving = false; //since if we receive a message it means that we need to do something, we can allow the position to be reset
  if(message.sensor == CHILD_ID){
    switch(message.type){
      case V_UP:
        desiredShutterLevel = 100;
        currentState = UP;
        #ifdef MY_DEBUG
          Serial.println("Shutter State is UP");
          Serial.print("currentShutterLevel = "); Serial.println(currentShutterLevel);
          Serial.print("desiredShutterLevel = "); Serial.println(desiredShutterLevel);
        #endif
        break;
        
      case V_DOWN:
        desiredShutterLevel = 0;
        currentState = DOWN;
        #ifdef MY_DEBUG
          Serial.println("Shutter State is DOWN");
          Serial.print("currentShutterLevel = "); Serial.println(currentShutterLevel);
          Serial.print("desiredShutterLevel = "); Serial.println(desiredShutterLevel);
        #endif
        break;
        
      case V_STOP:
        receivedStop = true; //allow the loop to send states once
        currentShutterLevel = map(stepperOne.currentPosition(),-totalDist*stepsPerMM,totalDist*stepsPerMM,-100,100); //update the current state with the state that the stepper is actually at
        desiredShutterLevel = currentShutterLevel; //stop the steppers
        currentState = STOP;
        #ifdef MY_DEBUG
          Serial.print("Halt called! Stopping all motors at pos: "); Serial.println(currentShutterLevel);
        #endif
        break;

      case V_PERCENTAGE:
        int pos = message.getInt();
        if(pos > 100) pos = 100;
        if(pos < 0) pos = 0;
        if(!requested){
          currentShutterLevel = pos;
          desiredShutterLevel = pos;
          setCurrentPositionofAll(map(pos,0,100,0,totalDist*stepsPerMM));
          #ifdef MY_DEBUG
            Serial.print("Initialized! Current Shutter Level Set to: "); Serial.println(currentShutterLevel);
          #endif
          requested = true;
        } else{
          desiredShutterLevel = pos;
        }
        currentState = (desiredShutterLevel > currentShutterLevel)?UP:DOWN;
        #ifdef MY_DEBUG
          Serial.print("Shutter State is PERC = "); Serial.println(desiredShutterLevel);
          Serial.print("currentShutterLevel = "); Serial.println(currentShutterLevel);
          Serial.print("desiredShutterLevel = "); Serial.println(desiredShutterLevel);
        #endif
        break;
   }
  }
  #ifdef MY_DEBUG
    Serial.print("Exiting this message with currentState = "); Serial.println(currentState);
  #endif
}
void enableAllSteppers(void){
  stepperOne.enableOutputs();
  stepperTwo.enableOutputs();
  stepperThree.enableOutputs();
  stepperFour.enableOutputs();
}
void moveAllSteppers(int steps){
  stepperOne.moveTo(steps);
  stepperTwo.moveTo(steps);
  stepperThree.moveTo(steps);
  stepperFour.moveTo(steps);
}
void runAllSteppers(void){
  stepperOne.run();
  stepperTwo.run();
  stepperThree.run();
  stepperFour.run();
}
void disableAllSteppers(void){
  stepperOne.disableOutputs();
  stepperTwo.disableOutputs();
  stepperThree.disableOutputs();
  stepperFour.disableOutputs();  
}
void setCurrentPositionofAll(int pos){
  stepperOne.setCurrentPosition(pos);
  stepperTwo.setCurrentPosition(pos);
  stepperThree.setCurrentPosition(pos);
  stepperFour.setCurrentPosition(pos);
}

Thanks so much for your patience and suggestions!

After seeing this thread I think I will just give up on this ENC28J60 and get a W5500 instead.

@mfalkvidd said in ENC28J60 Ethernet Shield HA reporting !GWT:TSA:ETH FAIL:

@Ethan-Chua I have never used Home Assistant, but it looks like the configuration tells HA to connect to a MySensors gateway server at 192.168.0.167 while the gateway is configured to start as a client and connect to a server at 192.168.0.153. So there are 2 clients, each trying to connect to a server that doesn't exist.

If that's the case, removing this part should make the connection work:

// Controller ip address. Enables client mode (default is "server" mode). 
// Also enable this if MY_USE_UDP is used and you want sensor data sent somewhere. 
#define MY_CONTROLLER_IP_ADDRESS 192,168,0,153  

Ok I must have misunderstood the meaning of MY_CONTROLLER_IP_ADDRESS. Will try and see how it goes.

Thanks!

UPDATE: It works now thanks @mfalkvidd for your help!

I found that the biggest culprit of FPAR failing is the quality of NRF24L01s modules (especially the cheap ones you find on AliExpress). I've never gotten the ones with the PCB antenna to work reliably at ranges any greater than 10m and had to use the LNA modules with the IPX connector for an external antenna.

You can try swapping out the NRF24L01 with another board or try the LNA ones with an antenna. Those have worked decently well for me.

@electrik it is connected to INT0 (D2). I went through all my RF24 modules and finally got one to work. As such I think the problem was with the RF24 module.

I am going to migrate to RFM69 as RF24 modules are too inconsistent and low quality for reliable home automation.

I recently designed and fabricated a new PCB utilizing the NRF24 with an ATMEGA168P (12MHz, 3.3V) and as usual, I ran into problems immediately. This time, it seems that the node is able to broadcast the I_FIND_PARENT_REQUEST to the gateway which receives it, but somehow is unable to itself receive the I_FIND_PARENT_RESPONSE from the gateway.

Here is the simple sketch (LightSensor example) that I used. I added the #define MY_NODE_ID 15 line to force the node to broadcast a preset ID as not including this line led to the controller not logging any record of receiving the I_FIND_PARENT_REQUEST.

// Enable debug prints to serial monitor
#define MY_DEBUG
#define MY_RF24_PA_LEVEL RF24_PA_MAX
#define MY_NODE_ID 15

// Enable and select radio type attached
#define MY_RADIO_NRF24
//#define MY_RADIO_NRF5_ESB
//#define MY_RADIO_RFM69
//#define MY_RADIO_RFM95

#include <MySensors.h>

#define CHILD_ID_LIGHT 25
#define LIGHT_SENSOR_ANALOG_PIN 0

//uint32_t SLEEP_TIME = 30000; // Sleep time between reads (in milliseconds)

MyMessage msg(CHILD_ID_LIGHT, V_LIGHT_LEVEL);
int lastLightLevel;


void presentation()
{
	// Send the sketch version information to the gateway and Controller
	sendSketchInfo("Light Sensor", "1.0");

	// Register all sensors to gateway (they will be created as child devices)
	present(CHILD_ID_LIGHT, S_LIGHT_LEVEL);
}

void loop()
{
	int16_t lightLevel = (1023-analogRead(LIGHT_SENSOR_ANALOG_PIN))/10.23;
	Serial.println(lightLevel);
	if (lightLevel != lastLightLevel) {
		send(msg.set(lightLevel));
		lastLightLevel = lightLevel;
	}
}

Here are the logs from the node:

 __  __       ____
|  \/  |_   _/ ___|  ___ _ __  ___  ___  _ __ ___
| |\/| | | | \___ \ / _ \ `_ \/ __|/ _ \| `__/ __|
| |  | | |_| |___| |  __/ | | \__ \  _  | |  \__ \
|_|  |_|\__, |____/ \___|_| |_|___/\___/|_|  |___/
        |___/                      2.3.2

16 MCO:BGN:INIT NODE,CP=RNNNA---,FQ=12,REL=255,VER=2.3.2
27 TSM:INIT
28 TSF:WUR:MS=0
35 TSM:INIT:TSP OK
38 TSM:FPAR
3353 ?TSF:MSG:SEND,255-255-255-255,s=255,c=3,t=7,pt=0,l=0,sg=0,ft=0,st=OK:
5363 !TSM:FPAR:NO REPLY
5364 TSM:FPAR
8680 ?TSF:MSG:SEND,255-255-255-255,s=255,c=3,t=7,pt=0,l=0,sg=0,ft=0,st=OK:
10689 !TSM:FPAR:NO REPLY
10690 TSM:FPAR
14006 ?TSF:MSG:SEND,255-255-255-255,s=255,c=3,t=7,pt=0,l=0,sg=0,ft=0,st=OK:
16016 !TSM:FPAR:NO REPLY
16018 TSM:FPAR
19334 ?TSF:MSG:SEND,255-255-255-255,s=255,c=3,t=7,pt=0,l=0,sg=0,ft=0,st=OK:
21344 !TSM:FPAR:FAIL
21345 TSM:FAIL:CNT=1
21348 TSM:FAIL:DIS
21349 TSF:TDI:TSL

and !TSM:FPAR:NO REPLY repeats over and over... But strangely these are the logs from the controller (Raspi running HA):

2022-06-04 17:14:43 DEBUG (MainThread) [mysensors.transport] Receiving 0;255;3;0;9;20391 TSF:MSG:READ,15-15-255,s=255,c=3,t=7,pt=0,l=0,sg=0:
2022-06-04 17:14:43 DEBUG (MainThread) [mysensors.handler] n:0 c:255 t:3 s:9 p:20391 TSF:MSG:READ,15-15-255,s=255,c=3,t=7,pt=0,l=0,sg=0:
2022-06-04 17:14:43 DEBUG (MainThread) [mysensors.transport] Receiving 0;255;3;0;9;20398 TSF:MSG:BC
2022-06-04 17:14:43 DEBUG (MainThread) [mysensors.handler] n:0 c:255 t:3 s:9 p:20398 TSF:MSG:BC
2022-06-04 17:14:43 DEBUG (MainThread) [mysensors.transport] Receiving 0;255;3;0;9;20401 TSF:MSG:FPAR REQ,ID=15
2022-06-04 17:14:43 DEBUG (MainThread) [mysensors.handler] n:0 c:255 t:3 s:9 p:20401 TSF:MSG:FPAR REQ,ID=15
2022-06-04 17:14:43 DEBUG (MainThread) [mysensors.transport] Receiving 0;255;3;0;9;20404 TSF:PNG:SEND,TO=0
2022-06-04 17:14:43 DEBUG (MainThread) [mysensors.handler] n:0 c:255 t:3 s:9 p:20404 TSF:PNG:SEND,TO=0
2022-06-04 17:14:43 DEBUG (MainThread) [mysensors.transport] Receiving 0;255;3;0;9;20407 TSF:CKU:OK
2022-06-04 17:14:43 DEBUG (MainThread) [mysensors.handler] n:0 c:255 t:3 s:9 p:20407 TSF:CKU:OK
2022-06-04 17:14:43 DEBUG (MainThread) [mysensors.transport] Receiving 0;255;3;0;9;20410 TSF:MSG:GWL OK
2022-06-04 17:14:43 DEBUG (MainThread) [mysensors.handler] n:0 c:255 t:3 s:9 p:20410 TSF:MSG:GWL OK
2022-06-04 17:14:44 DEBUG (MainThread) [mysensors.transport] Receiving 0;255;3;0;9;21404 !TSF:MSG:SEND,0-0-15-15,s=255,c=3,t=8,pt=1,l=1,sg=0,ft=0,st=NACK:0
2022-06-04 17:14:44 DEBUG (MainThread) [mysensors.handler] n:0 c:255 t:3 s:9 p:21404 !TSF:MSG:SEND,0-0-15-15,s=255,c=3,t=8,pt=1,l=1,sg=0,ft=0,st=NACK:0

From the st=NACK:0, it seems that the node is not acknowledging the I_FIND_PARENT_RESPONSE.

I have already tried soldering a 100uF cap across the RF24 supply pins as well as powering the entire circuit using a lab bench power supply at 3.3V.
I find this extremely puzzling as the node can clearly establish a one-way communication line with the controller but not vice versa. Any help as to why this is happening would be greatly appreciated. Thanks.

@mfalkvidd said in ENC28J60 Ethernet Shield HA reporting !GWT:TSA:ETH FAIL:

@Ethan-Chua I have never used Home Assistant, but it looks like the configuration tells HA to connect to a MySensors gateway server at 192.168.0.167 while the gateway is configured to start as a client and connect to a server at 192.168.0.153. So there are 2 clients, each trying to connect to a server that doesn't exist.

If that's the case, removing this part should make the connection work:

// Controller ip address. Enables client mode (default is "server" mode). 
// Also enable this if MY_USE_UDP is used and you want sensor data sent somewhere. 
#define MY_CONTROLLER_IP_ADDRESS 192,168,0,153  

Ok I must have misunderstood the meaning of MY_CONTROLLER_IP_ADDRESS. Will try and see how it goes.

Thanks!

UPDATE: It works now thanks @mfalkvidd for your help!

After seeing this thread I think I will just give up on this ENC28J60 and get a W5500 instead.

Hi there,

Recently I tried building a RF24 MySensors Ethernet Gateway using a ENC28J60 Nano shield. I had to remap all of the SPI pins of the NRF24L01 (unlike this guide) as the ENC28J60 shield was not playing nice while sharing the MOSI,MISO and SCK pins of the RF24.

RF24 Pins:
Pin | From IO | To IO
CE 9 5
CS 10 6
MOSI 11 9
MISO 12 8
SCK 13 3
IRQ 2 2 (no change)
This was based off this guide which stated that only D10,11,12 & 13 were used for these ENC28J60 nano ethernet shields.

However now the issue is that although the Ethernet Shield can connect to the network (I can see it's IP on my router dashboard and successfully ping that IP), MY_DEBUG keeps throwing !GWT:TSA:ETH FAIL errors and adding the Gateway to HA has been unsuccessful:

Here is my Gateway Arduino Sketch:

/**
 * The MySensors Arduino library handles the wireless radio link and protocol
 * between your home built sensors/actuators and HA controller of choice.
 * The sensors forms a self healing radio network with optional repeaters. Each
 * repeater and gateway builds a routing tables in EEPROM which keeps track of the
 * network topology allowing messages to be routed to nodes.
 *
 * Created by Henrik Ekblad <henrik.ekblad@mysensors.org>
 * Copyright (C) 2013-2015 Sensnology AB
 * Full contributor list: https://github.com/mysensors/Arduino/graphs/contributors
 *
 * Documentation: http://www.mysensors.org
 * Support Forum: http://forum.mysensors.org
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * version 2 as published by the Free Software Foundation.
 *
 *******************************
 *
 * REVISION HISTORY
 * Version 1.0 - Henrik EKblad
 * Contribution by a-lurker and Anticimex,
 * Contribution by Norbert Truchsess <norbert.truchsess@t-online.de>
 * Contribution by Tomas Hozza <thozza@gmail.com>
 *
 *
 * DESCRIPTION
 * The EthernetGateway sends data received from sensors to the ethernet link.
 * The gateway also accepts input on ethernet interface, which is then sent out to the radio network.
 *
 * The GW code is designed for Arduino 328p / 16MHz.  ATmega168 does not have enough memory to run this program.
 *
 * LED purposes:
 * - To use the feature, uncomment WITH_LEDS_BLINKING in MyConfig.h
 * - RX (green) - blink fast on radio message recieved. In inclusion mode will blink fast only on presentation recieved
 * - TX (yellow) - blink fast on radio message transmitted. In inclusion mode will blink slowly
 * - ERR (red) - fast blink on error during transmission error or recieve crc error
 *
 * See http://www.mysensors.org/build/ethernet_gateway for wiring instructions.
 *
 */

// Enable debug prints to serial monitor
#define MY_DEBUG 

// Enable and select radio type attached
#define MY_RADIO_RF24
//#define MY_RADIO_RFM69

// When ENC28J60 is connected we have to move CE/CSN pins for NRF radio
#define MY_SOFTSPI
#define MY_SOFT_SPI_SCK_PIN 3
#define MY_SOFT_SPI_MISO_PIN 8
#define MY_SOFT_SPI_MOSI_PIN 9
#define MY_RF24_CE_PIN 5
#define MY_RF24_CS_PIN 6

// Enable gateway ethernet module type 
#define MY_GATEWAY_ENC28J60

// Gateway IP address
#define MY_IP_ADDRESS 192,168,0,167

// The port to keep open on node server mode / or port to contact in client mode
#define MY_PORT 5003   

// Controller ip address. Enables client mode (default is "server" mode). 
// Also enable this if MY_USE_UDP is used and you want sensor data sent somewhere. 
#define MY_CONTROLLER_IP_ADDRESS 192,168,0,153  
 
// The MAC address can be anything you want but should be unique on your network.
// Newer boards have a MAC address printed on the underside of the PCB, which you can (optionally) use.
// Note that most of the Ardunio examples use  "DEAD BEEF FEED" for the MAC address.
#define MY_MAC_ADDRESS 0xDE, 0xAD, 0xBE, 0xEF, 0xFE, 0xED

// Set blinking period
#define MY_DEFAULT_LED_BLINK_PERIOD 300

// Enable inclusion mode
#define MY_INCLUSION_MODE_FEATURE
// Enable Inclusion mode button on gateway
//#define MY_INCLUSION_BUTTON_FEATURE
// Set inclusion mode duration (in seconds)
#define MY_INCLUSION_MODE_DURATION 60 
// Digital pin used for inclusion mode button
//#define MY_INCLUSION_MODE_BUTTON_PIN  3 

#define MY_DEFAULT_ERR_LED_PIN 7  // Error led pin
#define MY_DEFAULT_RX_LED_PIN  4  // Receive led pin
//#define MY_DEFAULT_TX_LED_PIN  3  // the PCB, on board LED

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


void setup()
{
}

void presentation()
{
  // Present locally attached sensors
}

void loop() {
}

A snippet from my config.yaml:

mysensors: 
  gateways:
    - device: '/dev/ttyUSB0'
      persistence_file: 'mysensors/mysensors.json'
      baud_rate: 115200
    - device: '192.168.0.167'
      persistence_file: 'mysensors/mysensors1.json'
      tcp_port: 5003
  optimistic: false
  persistence: true
  version: 2.3.2

And the MY_DEBUG logs:

0 MCO:BGN:INIT GW,CP=RNNGA---,FQ=16,REL=255,VER=2.3.2
4 TSM:INIT
5 TSF:WUR:MS=0
12 TSM:INIT:TSP OK
13 TSM:INIT:GW MODE
15 TSM:READY:ID=0,PAR=0,DIS=0
18 MCO:REG:NOT NEEDED
71 GWT:TIN:IP=192.168.0.167
1576 !GWT:TIN:ETH FAIL
1579 MCO:BGN:STP
1581 MCO:BGN:INIT OK,TSP=1
2077 !GWT:TSA:ETH FAIL
2079 TSM:READY:NWD REQ
2084 ?TSF:MSG:SEND,0-0-255-255,s=255,c=3,t=20,pt=0,l=0,sg=0,ft=0,st=OK:
2576 !GWT:TSA:ETH FAIL
3077 !GWT:TSA:ETH FAIL
3079 TSF:MSG:READ,1-1-0,s=255,c=3,t=21,pt=1,l=1,sg=0:0
3576 !GWT:TPS:ETH FAIL
3578 TSF:MSG:READ,0-1-255,s=255,c=3,t=20,pt=0,l=0,sg=0:
3584 TSF:MSG:BC
4077 !GWT:TSA:ETH FAIL
4576 !GWT:TSA:ETH FAIL
5076 !GWT:TSA:ETH FAIL
5577 !GWT:TSA:ETH FAIL
6076 !GWT:TSA:ETH FAIL
6577 !GWT:TSA:ETH FAIL
7076 !GWT:TSA:ETH FAIL
7579 !GWT:TSA:ETH FAIL
8076 !GWT:TSA:ETH FAIL
8577 !GWT:TSA:ETH FAIL

Other things I have tried:

• Swapping out RF24 boards (but from the MY_DEBUG logs it seems the RF24 is not the problem)
• Downgrading the AVR Boards to 1.6.11 as per this guide but failed as the sketch failed to compile. Error: multiple libraries found for SPI.h.
• Powering the board via a external power supply
• Tried both UIPEthernet Libraries (the one from MySensorsArduinoExamples and the one from ntruchsess

Perhaps it could be that the sketch occupies 80% of storage (with MY_DEBUG)? I am on the verge of just giving up with this problematic setup and use ESP8266 MQTT instead.

I would like to hear from anyone who has tried a similar setup! Thanks!

@Larson
Hi may I know what Board setup you are using? I am using the MiniCore Board "Library" and apart from the BOD fuse setting I don't see any other voltage option.
Could you share the board library you are using, worth giving it a shot to see if that helps. Thanks.

@monte Hi there thanks for pointing this out. I went back to have a look at the PCB files and it turns out I messed up the .brd file while probing around which resulted in the GND wire stub.

The actual board has a GND plane on the bottom layer like so:

Hi, I tested the setup with both a lab bench power supply as well as a BL8530 boost converter IC to boost two AA batteries to 3.3V.

Hi there,

Thanks for the replies! It seemed that the culprit was my stupidity. I forgot that the AccelStepper library's stepper.moveTo() function's argument was the absolute rather than the relative position of the stepper motor. As such my code would end up trying to push the stepper motor to extreme values (because I thought I needed to input a negative to move to the left etc) and this caused weird things to happen, most likely this crashing as well.

In any case I'm glad the issue has been resolved.

@electrik the programme takes up 72% of storage space and 64% of dynamic memory, so I will definitely cut out the Serial logs once I am done debugging.

@mfalkvidd yikes you're right it seems I had forgotten to include the function to run the steppers. Anyways for reference sake I'll drop my final code here (from the last I tested it is working but with the minor issue of the motors having to travel to the end of their move before it can reverse direction, which I have no clue why it happens but I don't mind it):

#include <AccelStepper.h>

const byte dirPin1 = A0;
const byte stepPin1 = A1;
const byte enPin1 = A2;
const byte dirPin2 = A3;
const byte stepPin2 = A4;
const byte enPin2 = A5;
const byte dirPin3 = 4;
const byte stepPin3 = 3;
const byte enPin3 = 8;
const byte dirPin4 = 7;
const byte stepPin4 = 6;
const byte enPin4 = 5;
const bool enOne = true, enTwo = true, enThree = true, enFour = true;
const bool dirOne = true, dirTwo = true, dirThree = true, dirFour = true;
const int stepmmOne = 160, stepmmTwo = 160, stepmmThree = 160, stepmmFour = 160;

const byte endstopup = A6, endstopdown = A7;

//long timer = 0;

#define motorInterfaceType 1
 AccelStepper stepperOne(motorInterfaceType, stepPin1, dirPin1);
 AccelStepper stepperTwo(motorInterfaceType, stepPin2, dirPin2);
 AccelStepper stepperThree(motorInterfaceType, stepPin3, dirPin3);
 AccelStepper stepperFour(motorInterfaceType, stepPin4, dirPin4);

#define MY_DEBUG
#define MY_RADIO_RF24
#include <MySensors.h>
#define CHILD_ID 0
//#define MY_TRANSPORT_WAIT_READY_MS 1000

int currentShutterLevel = 0, desiredShutterLevel = 0;
enum currentState {
  STOP,
  UP,
  DOWN,
};
static int currentState = STOP; //the initial state is STOP because it is not moving
boolean requested = false;
boolean isAlrMoving = false;
boolean initialValueSent = false;
boolean receivedStop = false;

int totalDist = 150; //in mm
int stepsPerMM = 160;
int currentSteps = 0;
int desiredSteps = 0;
int stepsToMove = 0, oldStepsToMove = 0;
int levelsToMove = 0;
int levelsToGo = 0;
int savedShutterLevel = 0;
int stepSpeed = 50;
int stepAccel = 1000;

MyMessage upMessage(CHILD_ID, V_UP);
MyMessage downMessage(CHILD_ID, V_DOWN);
MyMessage stopMessage(CHILD_ID, V_STOP);
MyMessage percMessage(CHILD_ID, V_PERCENTAGE);

void sendState(){
  #ifdef MY_DEBUG
    Serial.println("Sending states: ");
    Serial.print("UP: "); Serial.println(currentState == UP);
    Serial.print("DOWN: "); Serial.println(currentState == DOWN);
    Serial.print("STOP: "); Serial.println(currentState == STOP);
    Serial.print("PERC: "); 
    Serial.println(currentShutterLevel);
  #endif
  send(upMessage.set(currentState == UP));
  send(downMessage.set(currentState == DOWN));
  send(stopMessage.set(currentState == STOP));
  send(percMessage.set(desiredShutterLevel));
}
void setup() {
Serial.begin(115200);
stepperOne.setEnablePin(enPin1);
stepperOne.setPinsInverted(dirOne,false,enOne);
stepperOne.setMaxSpeed(stepSpeed);
stepperOne.setAcceleration(stepAccel);
//stepperOne.setSpeed(50);

stepperTwo.setEnablePin(enPin2);
stepperTwo.setPinsInverted(dirTwo,false,enTwo);
stepperTwo.setMaxSpeed(stepSpeed);
stepperTwo.setAcceleration(stepAccel);
//stepperTwo.setSpeed(50);

stepperThree.setEnablePin(enPin3);
stepperThree.setPinsInverted(dirThree,false,enThree);
stepperThree.setMaxSpeed(stepSpeed);
stepperThree.setAcceleration(stepAccel);
//stepperThree.setSpeed(50);;

stepperFour.setEnablePin(enPin4);
stepperFour.setPinsInverted(dirFour,false,enFour);
stepperFour.setMaxSpeed(stepSpeed);
stepperFour.setAcceleration(stepAccel);
//stepperFour.setSpeed(50);

pinMode(endstopup, INPUT_PULLUP);
pinMode(endstopdown, INPUT_PULLUP);
}

void presentation()
{
  sendSketchInfo("Hydroponics Stepper Motors", "1.0");
  wait(1000);
  present(CHILD_ID, S_COVER);
}

void loop() {
  /*if(!initialValueSent){
    #ifdef MY_DEBUG
      Serial.println("Sending initial values!");
    #endif
    sendState();
    initialValueSent = true;
  }
  */
  
  //requesting percentage of height
  if(!requested){
    request(CHILD_ID, V_PERCENTAGE);
    #ifdef MY_DEBUG
      Serial.println("Requesting initial position of lights");
    #endif
  }
    if(currentShutterLevel != desiredShutterLevel || receivedStop){ //allow the setting of new positions if a STOP is called 
    //currentShutterLevel and desiredShutterLevel are used to detect the change in parameters
    if(!isAlrMoving){ //this ensures the following code is only executed once
      enableAllSteppers();
      stepsToMove = map(desiredShutterLevel,0,100,0,totalDist*stepsPerMM);
      Serial.print("Moving to: "); Serial.println(stepsToMove);
      moveAllSteppers(stepsToMove);
      isAlrMoving = true; 
      sendState();
    }
    if(stepperOne.distanceToGo() != 0){
    } else{
        currentShutterLevel = desiredShutterLevel;
        currentState = STOP;
        sendState();
        disableAllSteppers();
    }
    receivedStop = false;
    }else{ //if desired and current are the same - either because there is no movement or when we call STOP, then check to see 
      //if there was a change in the state of STOP. If there was then send the state.
    if(receivedStop){
    sendState();
    receivedStop = false;
    }
    disableAllSteppers();
  }
  runAllSteppers();
  if(analogRead(endstopup)>10 && currentState == UP){ //if the top endstop is triggered and the shutter was moving up
      #ifdef MY_DEBUG
        Serial.println("Top Endstop has been activated!");
      #endif
    receivedStop = true;
    setCurrentPositionofAll(100);
    desiredShutterLevel = 100;
    currentShutterLevel = 100;
    currentState = STOP;
  } else if(analogRead(endstopdown)>10 && currentState == DOWN){ //if the bottom endstop is triggered and the shutter was moving down
    #ifdef MY_DEBUG
        Serial.println("Bottom Endstop has been activated!");
    #endif
    receivedStop = true;
    setCurrentPositionofAll(0);
    desiredShutterLevel = 0;
    currentShutterLevel = 0;
    currentState = STOP;
  }
 
}
void receive(const MyMessage &message)
{
#ifdef MY_DEBUG
  Serial.print("Received a message from sensor: ");
  Serial.println(String(message.sensor));
  Serial.print("Message type: ");
  Serial.println(String(message.type));
#endif
isAlrMoving = false; //since if we receive a message it means that we need to do something, we can allow the position to be reset
  if(message.sensor == CHILD_ID){
    switch(message.type){
      case V_UP:
        desiredShutterLevel = 100;
        currentState = UP;
        #ifdef MY_DEBUG
          Serial.println("Shutter State is UP");
          Serial.print("currentShutterLevel = "); Serial.println(currentShutterLevel);
          Serial.print("desiredShutterLevel = "); Serial.println(desiredShutterLevel);
        #endif
        break;
        
      case V_DOWN:
        desiredShutterLevel = 0;
        currentState = DOWN;
        #ifdef MY_DEBUG
          Serial.println("Shutter State is DOWN");
          Serial.print("currentShutterLevel = "); Serial.println(currentShutterLevel);
          Serial.print("desiredShutterLevel = "); Serial.println(desiredShutterLevel);
        #endif
        break;
        
      case V_STOP:
        receivedStop = true; //allow the loop to send states once
        currentShutterLevel = map(stepperOne.currentPosition(),-totalDist*stepsPerMM,totalDist*stepsPerMM,-100,100); //update the current state with the state that the stepper is actually at
        desiredShutterLevel = currentShutterLevel; //stop the steppers
        currentState = STOP;
        #ifdef MY_DEBUG
          Serial.print("Halt called! Stopping all motors at pos: "); Serial.println(currentShutterLevel);
        #endif
        break;

      case V_PERCENTAGE:
        int pos = message.getInt();
        if(pos > 100) pos = 100;
        if(pos < 0) pos = 0;
        if(!requested){
          currentShutterLevel = pos;
          desiredShutterLevel = pos;
          setCurrentPositionofAll(map(pos,0,100,0,totalDist*stepsPerMM));
          #ifdef MY_DEBUG
            Serial.print("Initialized! Current Shutter Level Set to: "); Serial.println(currentShutterLevel);
          #endif
          requested = true;
        } else{
          desiredShutterLevel = pos;
        }
        currentState = (desiredShutterLevel > currentShutterLevel)?UP:DOWN;
        #ifdef MY_DEBUG
          Serial.print("Shutter State is PERC = "); Serial.println(desiredShutterLevel);
          Serial.print("currentShutterLevel = "); Serial.println(currentShutterLevel);
          Serial.print("desiredShutterLevel = "); Serial.println(desiredShutterLevel);
        #endif
        break;
   }
  }
  #ifdef MY_DEBUG
    Serial.print("Exiting this message with currentState = "); Serial.println(currentState);
  #endif
}
void enableAllSteppers(void){
  stepperOne.enableOutputs();
  stepperTwo.enableOutputs();
  stepperThree.enableOutputs();
  stepperFour.enableOutputs();
}
void moveAllSteppers(int steps){
  stepperOne.moveTo(steps);
  stepperTwo.moveTo(steps);
  stepperThree.moveTo(steps);
  stepperFour.moveTo(steps);
}
void runAllSteppers(void){
  stepperOne.run();
  stepperTwo.run();
  stepperThree.run();
  stepperFour.run();
}
void disableAllSteppers(void){
  stepperOne.disableOutputs();
  stepperTwo.disableOutputs();
  stepperThree.disableOutputs();
  stepperFour.disableOutputs();  
}
void setCurrentPositionofAll(int pos){
  stepperOne.setCurrentPosition(pos);
  stepperTwo.setCurrentPosition(pos);
  stepperThree.setCurrentPosition(pos);
  stepperFour.setCurrentPosition(pos);
}

Thanks so much for your patience and suggestions!