I write program with AccelStepper library

/ Enable debug prints to serial monitor
#define MY_DEBUG

// Enable and select radio type attached
#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 2000  // wartosc gdy kurtyna zamknieta
#define CURTAIN_OPEN 0       // wartosc gdy kurtyna otwarta
#define CHILD_ID 1

// 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, IN2, IN3, IN4);

void setup()
{
  stepper1.setMaxSpeed(200.0);
  stepper1.setAcceleration(1000.0);
  stepper1.setSpeed(200);
  stepper1.moveTo(CURTAIN_OPEN);
}

void presentation() 
{
  // Wyslanie informacji o wersji programu
  sendSketchInfo("Program kurtyna", "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) {
     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) {
       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
    }
}

I use MySensors library 2.0

Now i working.

Now the wiring diagram should be visible.

I write a program on library Stepper not AccelStepper.
Now is working.

Program code:

// Enable debug prints to serial monitor
#define MY_DEBUG 

// Enable and select radio type attached
#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 <Stepper.h>

#define CURTAIN_CLOSED 1000  // wartosc gdy kurtyna zamknieta
#define CURTAIN_OPEN -1000         // wartosc gdy kurtyna otwarta 
#define CHILD_ID 1

// definicje MySensors 

MyMessage message(CHILD_ID, S_COVER);

int in1Pin = 3;
int in2Pin = 4;
int in3Pin = 5;
int in4Pin = 6;
int lastState;
 
// liczba kroków na jeden obrót
#define stepsPerRevolution 200

//ustawienie szybkości silnika 
int motorSpeed = 40;

Stepper myStepper(stepsPerRevolution, in1Pin, in2Pin, in3Pin, in4Pin);

void setup() {
  
// ustawienie pinów jako wyjście
  pinMode(in1Pin, OUTPUT);
  pinMode(in2Pin, OUTPUT);
  pinMode(in3Pin, OUTPUT);
  pinMode(in4Pin, OUTPUT);
// ustawienie szybkosci silnika
  myStepper.setSpeed(motorSpeed);
}

void presentation()  
{ 
  // Wyslanie informacji o wersji programu
  sendSketchInfo("Program kurtyna", "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 receive(const MyMessage &message) {
  // if message = V_UP start moving until closed
  if (message.type==V_UP) {
     myStepper.step(CURTAIN_OPEN);
     // 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) {
     myStepper.step(CURTAIN_CLOSED);
     // Store state in eeprom
     saveState(message.sensor, message.getBool());
     request(CHILD_ID, V_DOWN, 0); // request new values from controller
        } 
}

I use MySensors Library 2.0

Youtube film

https://www.youtube.com/embed/gm0r2kDXrt4

Hello.

To my project i use stepper motor JK42HS34-0404 and driver L298N.

This is a wiring diagram.

This is a program code that I use

#include <MySensor.h>  
#include <SPI.h>
#include <AccelStepper.h>
#define HALFSTEP 4  // Stepper uses "Halfstep" mode
#define CURTAIN_CLOSED 1000 // value when closed
#define CURTAIN_OPEN 0 // value when open
#define CHILD_ID 1   // Id of the sensor child
// MySensors definitions
MySensor gw;
// Initialize message
MyMessage msg(CHILD_ID, V_TRIPPED);


// 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

// Initialize with pin sequence IN1-IN3-IN2-IN4 for using the AccelStepper with 28BYJ-48
AccelStepper stepper1(HALFSTEP, motorPin1, motorPin2, motorPin3, motorPin4);

unsigned long current_position ; // remembers current position, need to be saved in EEPROM?

void setup() {
  // MySensors
  gw.begin(); // fixed node 13
  gw.sendSketchInfo("Curtain control 13", "1.0"); // Send the sketch version information to the gateway and Controller

  //pinMode(DIGITAL_INPUT_SENSOR, INPUT);      // sets the motion sensor digital pin as input
  // Register all sensors to gw (they will be created as child devices)
  gw.present(CHILD_ID, S_COVER); // Window Cover sub-type, commands: V_UP, V_DOWN, V_STOP
  
  stepper1.setMaxSpeed(500.0);
  stepper1.setAcceleration(700.0);
  stepper1.moveTo(CURTAIN_OPEN);
  
  current_position = CURTAIN_OPEN ;
  stepper1.moveTo(CURTAIN_OPEN);
}//--(end setup )---

void loop() {
  // if message = V_UP start moving until closed
  // if message = V_DOWN start moving back until open
  // if message = V_STOP stop moving
  // Test: Change direction when the stepper reaches the target position
  gw.process(); // check if message from controller
  if (stepper1.distanceToGo() == 0){
    if (stepper1.currentPosition() == CURTAIN_OPEN){
      stepper1.moveTo(CURTAIN_CLOSED);
      Serial.println("Curtain Open, now closing");
      gw.request(CHILD_ID, V_UP, 0); // request new values from controller  
    }
    else{
      stepper1.moveTo(CURTAIN_OPEN);
      Serial.println("Curtain Closed, now opening");
      gw.request(CHILD_ID, V_DOWN, 0); // request new values from controller   
    }
  }
  
  stepper1.run();
}

// This is called when a message is received 
void incomingMessage(const MyMessage &message) {
  // We only expect few types of messages from controller, check which
  stepper1.moveTo(message.getInt() * CURTAIN_CLOSED/100);
  Serial.print("Message - valid: ");
  Serial.print(message.sensor);
  Serial.print(" , value: % ");
  Serial.println(message.getInt());
  switch (message.getInt()) {
  case 100:
    // Curtain should be opened
     Serial.print("Message - valid: ");
     Serial.print(message.sensor);
     Serial.print(", Message UP ");
     stepper1.moveTo(CURTAIN_OPEN);
     break;
  case 0:
    // Curtain should be closed
     Serial.print("Message - valid: ");
     Serial.print(message.sensor);
     Serial.print(", Message DOWN ");
     stepper1.moveTo(CURTAIN_CLOSED);
    break;
  case 50:
    // Curtain action should be stopped
     Serial.print("Message - valid: ");
     Serial.print(message.sensor);
     Serial.print(", Message STOP ");
    break;
  default: 
    // not recognizable message
     Serial.print("Message - valid: ");
     Serial.print(message.sensor);
     Serial.print(", Unrecognized ");

  }
 
}

When the program I have uploaded to my mysensors, the engine still turns, one left and one to the right and did not work the button blinds in Domoticz.

I cant turn off my stepper motor in Domoticz.

https://www.youtube.com/embed/1Wc1p_9YDQQ

Please help me.

Coal or water level sensor
http://projektpimalina.blogspot.com/2016/05/czujnik-poziomu-wegla-na-nadajniku.html

https://www.youtube.com/embed/3ShomcZfV-w

#include <MySensor.h>
#include <SPI.h>          //import biblioteki MySenors

#define trigPin 3
#define echoPin 4
int max = 60; //maksymalna odleglosc w cm gdy zbiornik bedzie pusty
int procent; //odleglosc w procentach
int ilosc; //ilosc w procentach napelnienia zbiornika

#define child_id_ilosc 1   //definicja identyfikacji ilosci wegla w kontenerze

MySensor gw;
MyMessage msgilosc(child_id_ilosc, V_IMPEDANCE); //utworzenie konteneru do przechowywania danych
 
void setup() {
  
  pinMode(trigPin, OUTPUT); //Pin, do którego podłączymy trig jako wyjście
  pinMode(echoPin, INPUT); //a echo, jako wejście
 
  gw.begin();   //uruchomienie biblioteki MySensors
  gw.sendSketchInfo("Czujunik ilosci wegla", "1.0");
  
  gw.present(child_id_ilosc, S_WEIGHT); //prezentacja danych do kontrolera
}
 
void loop() {
  
  long czas, dystans;
 
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);
 
  czas = pulseIn(echoPin, HIGH);
  dystans = czas / 58;
  
  procent = ((dystans * 100) / max);
  ilosc = 100 - procent;
  
  gw.send(msgilosc.set(ilosc)); //przeslanie ilosci wegla do domoticz
  
  delay(1000);    // opóźnienie
}

Thank you very much works very well for Domoticz :+1:

@TheoL Thank you very much, really helped me, now the program code work :smile:

I used leds to perform a functional test code.

I connected LEDs to pins 3, 4, 5, 6 and GND.

I wrote code to 4 relays:

#include <MySigningNone.h>
#include <MyTransportNRF24.h>
#include <MyTransportRFM69.h>
#include <MyHwATMega328.h>
#include <MySensor.h>
#include <SPI.h>

#define RELAY_1  3  // Pin D3
#define RELAY_2  4  // Pin D4
#define RELAY_3  5  // Pin D5
#define RELAY_4  6  // Pin D6
#define NUMBER_OF_RELAYS 4 // Liczba przekaznikow
#define RELAY_ON 1  // Stan wysoki przekaznik wlaczony
#define RELAY_OFF 0 // Stan niski przekaznik wylaczony

// NRFRF24L01 radio driver (set low transmit power by default) 
MyTransportNRF24 radio(RF24_CE_PIN, RF24_CS_PIN, RF24_PA_LEVEL_GW);  
//MyTransportRFM69 radio;
// Message signing driver (none default)
//MySigningNone signer;
// Select AtMega328 hardware profile
MyHwATMega328 hw;
// Construct MySensors library
MySensor gw(radio, hw);

void setup() {   
  // Initialize library and add callback for incoming messages
  gw.begin(incomingMessage, AUTO, true);
  // Send the sketch version information to the gateway and Controller
  gw.sendSketchInfo("Relay", "1.0");

  // Fetch relay status
  for (int sensor=1, pin=RELAY_1; sensor<=NUMBER_OF_RELAYS;sensor++, pin++)
  for (int sensor=1, pin=RELAY_2; sensor<=NUMBER_OF_RELAYS;sensor++, pin++)
  for (int sensor=1, pin=RELAY_3; sensor<=NUMBER_OF_RELAYS;sensor++, pin++)
  for (int sensor=1, pin=RELAY_4; sensor<=NUMBER_OF_RELAYS;sensor++, pin++){
    // Register all sensors to gw (they will be created as child devices)
    gw.present(sensor, S_LIGHT);
    // Then set relay pins in output mode
    pinMode(pin, OUTPUT);   
    // Set relay to last known state (using eeprom storage) 
    digitalWrite(pin, gw.loadState(sensor)?RELAY_ON:RELAY_OFF);
  }
}


void loop() 
{
  // Alway process incoming messages whenever possible
  gw.process();
}

void incomingMessage(const MyMessage &message) {
  // We only expect one type of message from controller. But we better check anyway.
  if (message.type==V_LIGHT) {
     // Change relay state
     digitalWrite(message.sensor-1+RELAY_1, message.getBool()?RELAY_ON:RELAY_OFF);
     // Store state in eeprom
     gw.saveState(message.sensor, message.getBool());
     // Write some debug info
     Serial.print("Incoming change for sensor:");
     Serial.print(message.sensor);
     Serial.print(", New status: ");
     Serial.println(message.getBool());
   } 
}

Domoticz detected 4 switches

I added 4 switches in Domoticz

I connected the LED to pins 3,4,5,6 and when I turn on switch in Domoticz the LEDs do not want to turn on.

What is poorly written code?