Replaced StepperMotorControl Example with MotorizedWindowShare

MotorizedWindowShade is more advanced and uses two motors

examples/Other Examples/MotorizedWindowShade/MotorizedWindowShade.ino

@@ -0,0 +1,139 @@
+/*********************************************************************************
+ *  MIT License
+ *  
+ *  Copyright (c) 2023 Gregg E. Berman
+ *  
+ *  https://github.com/HomeSpan/HomeSpan
+ *  
+ *  Permission is hereby granted, free of charge, to any person obtaining a copy
+ *  of this software and associated documentation files (the "Software"), to deal
+ *  in the Software without restriction, including without limitation the rights
+ *  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ *  copies of the Software, and to permit persons to whom the Software is
+ *  furnished to do so, subject to the following conditions:
+ *  
+ *  The above copyright notice and this permission notice shall be included in all
+ *  copies or substantial portions of the Software.
+ *  
+ *  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ *  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ *  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ *  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ *  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ *  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ *  SOFTWARE.
+ *  
+ ********************************************************************************/
+ 
+// This example demonstrates how to control real-world Stepper Motors using HomeSpan's
+// StepperControl Class through the implemention of a Motorized Window Shade Accessory.
+
+// The sketch below is based on the more-fully commented WindowShade Accessory included in
+// Tutorial Example 13 (this sketch only contains comments related to the use of the stepper motors).
+
+// The Accessory we will use two stepper motors:
+
+//   * one motor to open/close the window shade, driven by an Adafruit TB6612 driver board (https://www.adafruit.com/product/2448)
+//   * one motor to tilt the window shade slats, driven by a SparkFun A3967 driver board (https://www.sparkfun.com/products/12779)
+
+// See HomeSpan's StepperControl documentation for details on the classes used to control these driver boards,
+// as well as for instructions on how you can easily extend StepperControl to create a custom driver for any board.
+
+#include "HomeSpan.h"
+#include "extras/Stepper_TB6612.h"     // this contains HomeSpan's StepperControl Class for the Adafruit TB6612 driver board
+#include "extras/Stepper_A3967.h"      // this contains HomeSpan's StepperControl Class for the Sparkfun A3967 driver board
+
+////////////////////////////////////
+
+struct DEV_WindowShade : Service::WindowCovering {
+
+  Characteristic::CurrentPosition currentPos{0,true};
+  Characteristic::TargetPosition targetPos{0,true};
+  Characteristic::CurrentHorizontalTiltAngle currentTilt{0,true};
+  Characteristic::TargetHorizontalTiltAngle targetTilt{0,true};
+  
+  StepperControl *mainMotor;          // motor to open/close shade
+  StepperControl *slatMotor;          // motor to tilt shade slats
+
+  DEV_WindowShade(StepperControl *mainMotor, StepperControl *slatMotor) : Service::WindowCovering(){
+
+    this->mainMotor=mainMotor;
+    this->slatMotor=slatMotor;
+           
+    mainMotor->setAccel(10,20);                         // set acceleration parameters for main motor
+    mainMotor->setStepType(StepperControl::HALF_STEP);  // set step type to HALF STEP for main motor
+        
+    LOG0("Initial Open/Close Position: %d\n",currentPos.getVal());
+    LOG0("Initial Slat Position: %d\n",currentTilt.getVal());
+    
+    mainMotor->setPosition(currentPos.getVal()*20);       // define initial position of main motor
+    slatMotor->setPosition(currentTilt.getVal()*11.47);   // define initial position of slat motor
+  }
+
+  ///////////
+  
+  boolean update(){
+
+    if(targetPos.updated()){
+      
+      // Move motor to absolute position, assuming 400 steps per revolution and 5 revolutions for full open/close travel,
+      // for a total of 2000 steps of full travel. Specify that motor should enter the BRAKE state upon reaching to desired position.
+      // Must multiply targetPos, which ranges from 0-100, by 20 to scale to number of motor steps needed
+    
+      mainMotor->moveTo(targetPos.getNewVal()*20,5,StepperControl::BRAKE);
+      LOG1("Setting Shade Position=%d\n",targetPos.getNewVal());
+    }
+
+    if(targetTilt.updated()){
+      
+      // Move motor to absolute position, assuming 2064 steps per revolution and 1/2 revolution for full travel of slat tilt in either direction
+      // Must multiply targetPos, which ranges from -90 to 90, by 11.47 to scale number of motor steps needed
+    
+      slatMotor->moveTo(targetTilt.getNewVal()*11.47,5,StepperControl::BRAKE);
+      LOG1("Setting Shade Position=%d\n",targetTilt.getNewVal());
+    }
+
+    return(true);
+  }
+
+  ///////////
+
+  void loop(){
+
+    // If the current window shade position or tilt does NOT equal the target position, BUT the motor has stopped moving,
+    // we must have reached the target position, so set the current position equal to the target position
+    
+    if(currentPos.getVal()!=targetPos.getVal() && !mainMotor->stepsRemaining()){
+      currentPos.setVal(targetPos.getVal());
+      LOG1("Main Motor Stopped at Shade Position=%d\n",currentPos.getVal());
+    }
+
+    if(currentTilt.getVal()!=targetTilt.getVal() && !slatMotor->stepsRemaining()){
+      currentTilt.setVal(targetTilt.getVal());
+      LOG1("Slat Motor Stopped at Shade Tilt=%d\n",currentTilt.getVal());
+    } 
+            
+  }
+  
+};
+
+////////////////////////////////////
+
+void setup() {
+
+  Serial.begin(115200);
+
+  homeSpan.begin(Category::WindowCoverings,"Motorized Shade");
+
+  new SpanAccessory();                                                          
+    new Service::AccessoryInformation();
+      new Characteristic::Identify(); 
+    new DEV_WindowShade(new Stepper_TB6612(23,32,22,14,33,27), new Stepper_A3967(17,16,19,18,21));   // instantiate drivers for each board and specify pins used on ESP32
+}
+
+//////////////////////////////////////
+
+void loop(){
+  
+  homeSpan.poll();  
+}

examples/Other Examples/StepperMotorControl/StepperMotorControl.ino

@@ -44,22 +44,25 @@
 
 struct DEV_WindowShade : Service::WindowCovering {
 
-  SpanCharacteristic *current;
+//  SpanCharacteristic *current;
-  SpanCharacteristic *target;
+//  SpanCharacteristic *target;
+
+  Characteristic::CurrentPosition currentPos{0,true};
+  Characteristic::TargetPosition targetPos{0,true};
   
   Stepper_TB6612 *motor;          // create pointer to TB6612 motor controller
 
   DEV_WindowShade(int a1, int a2, int b1, int b2) : Service::WindowCovering(){
         
-    current=new Characteristic::CurrentPosition(0,true);    
+//    current=new Characteristic::CurrentPosition(0,true);    
-    target=new Characteristic::TargetPosition(0,true);
+//    target=new Characteristic::TargetPosition(0,true);
     
     motor=new Stepper_TB6612(a1, a2, b1, b2);    // instantiate motor using pins specified in set-up below
     motor->setAccel(10,20);                      // set acceleration parameters
         
     LOG0("Configuring Motorized Window Shade with input pins: A1=%d, A2=%d, B1=%d, B2=%d\n",a1,a2,b1,b2);
-    LOG0("Initial Position: %d\n",current->getVal());
+    LOG0("Initial Position: %d\n",currentPos.getVal());
-    motor->setPosition(current->getVal()*10);
+    motor->setPosition(currentPos.getVal()*10);
   }
 
   ///////////
@@ -71,8 +74,8 @@ struct DEV_WindowShade : Service::WindowCovering {
     
     // Specify that motor should enter the BRAKE state upon reaching to desired position.
     
-    motor->moveTo(target->getNewVal()*10,5,Stepper_TB6612::BRAKE);
+    motor->moveTo(targetPos.getNewVal()*10,5,Stepper_TB6612::BRAKE);
-    LOG1("Setting Shade Position=%d\n",target->getNewVal());
+    LOG1("Setting Shade Position=%d\n",targetPos.getNewVal());
     return(true);  
   }
 
@@ -83,9 +86,9 @@ struct DEV_WindowShade : Service::WindowCovering {
     // If the current window shade position does NOT equal the target position, BUT the motor has stopped moving,
     // we must have reached the target position, so set the current position equal to the target position
     
-    if(current->getVal()!=target->getVal() && !motor->stepsRemaining()){
+    if(currentPos.getVal()!=targetPos.getVal() && !motor->stepsRemaining()){
-      current->setVal(target->getVal());
+      currentPos.setVal(targetPos.getVal());
-      LOG1("Motor Stopped at Shade Position=%d\n",current->getVal());
+      LOG1("Motor Stopped at Shade Position=%d\n",currentPos.getVal());
     }    
   }