lock_32.yaml

substitutions:
  device_name: test-lock32
  entity_name: test_lock32
  friendly_name: test lock32
  device_name_wifi: testlock32

#pinout_mapping ESP32
  i2c_sda_pin:                GPIO21            # Пин sda для работы с шиной I2C магнитного энкодера AS560 
  i2c_scl_pin:                GPIO22            # Пин scl для работы с шиной I2C магнитного энкодера AS560
  as5600_dir_pin:             GPIO23            # Пин dir магнитного энкодера AS5600 
 
  a4988_step_pin:             GPIO14            # Пин step драйвера шагового двигателя a4988 (TMC2209 V3.0)
  a4988_dir_pin:              GPIO12            # Пин dir  драйвера  шагового двигателя a4988 (TMC2209 V3.0)
  a4988_sleep_pin:            GPIO4             # Пин sleep драйвера шагового двигателя a4988 (TMC2209 V3.0)

esphome:
  name: ${device_name}
  name_add_mac_suffix: false

esp32:
  board: esp32dev
  framework:
    type: esp-idf
    version: recommended

logger:

api:
  reboot_timeout: 50min
  #encryption:
   # key: !secret api_password

ota:
  platform: esphome
  password: !secret ota_password

safe_mode:
  reboot_timeout: 50min

wifi:
  ssid: !secret wifi_ssid
  password: !secret wifi_password
  fast_connect: on
  reboot_timeout: 50min
  ap:
    ssid: ${device_name_wifi}
    #password: !secret wifi_ap_password

# Example config.yaml
i2c:
  sda: $i2c_sda_pin
  scl: $i2c_scl_pin
  scan: true
  id: bus_a

as5600:
    id: my_as5600
    dir_pin: $as5600_dir_pin
    start_position: 0deg
    range: 360deg


globals:
  - id: full_cycle
    type: int
    restore_value: yes
    initial_value: '0'

  - id: prev_angle
    type: int
    restore_value: yes
    initial_value: '0'

button:
  - platform: template
    name: "Full Cycle Reset"
    id: full_cycle_reset
    on_press:
      - lambda: |-
          id(full_cycle) = 0;

sensor:
  - platform: as5600 
    update_interval: 100ms 
    name: Angle 
    id: angle
    unit_of_measurement: ° 
    accuracy_decimals: 0
    icon: mdi:rotate-right 
    out_of_range_mode: nan 
    filters: 
      - delta: 1 
      - lambda:  
          uint16_t deg = (uint16_t)floor(x * as5600::RAW_TO_DEGREES * id(my_as5600).get_range_scale()); 
          return deg % 360;
    on_value:
      then:
        - lambda: |-
            if (((id(prev_angle) > 310 && x < 50) || (id(prev_angle) < x)) && !(id(prev_angle) < 50 && x > 310))
              id(full_cycle) += (id(prev_angle) > x ? 359 - id(prev_angle) + x : x - id(prev_angle));
            else if ((id(prev_angle) < 50 && x > 310) || (id(prev_angle) > x))
              id(full_cycle) -= (id(prev_angle) < x ? 359 - x + id(prev_angle) : id(prev_angle) - x);
            id(prev_angle) = x;

  - platform: template
    update_interval: 100ms
    name: "Full cycle"
    lambda: |-
      return id(full_cycle);

  - platform: template
    update_interval: 100ms
    name: "Position MAP"
    id: position_map
    lambda: |-
      return 9000 - min(9000, max(0, (int)remap(id(full_cycle), 0, 2018, 0, 9000)));

   
         
  - platform: as5600
    update_interval: 100ms
    name: Position
    filters:
      - delta: 1
    raw_position:
      name: Raw Position
      filters:
        - delta: 1
    gain:
      name: Gain
      filters:
        - delta: 1
    magnitude:
      name: Magnitude
      filters:
        - delta: 1
    status:
      name: Status
      filters:
        - delta: 1




captive_portal:

stepper:
  - platform: a4988
    id: my_stepper
    step_pin: 
      number: $a4988_step_pin
#      ignore_strapping_warning: true
    dir_pin:
      number: $a4988_dir_pin
      inverted: true
    sleep_pin:
      number: $a4988_sleep_pin
      inverted: true
#      ignore_strapping_warning: true
    max_speed: 2550 steps/s
number:
  - platform: template
    name: Position stepper
    optimistic: true
    min_value: 0
    id: number_pos
    max_value: 9000
    step: 0.5
    set_action:
      then:
        - stepper.set_target:
            id: my_stepper
            target: !lambda return x;            


lock:
  - platform: template
    name: Lock
    optimistic: true
    lambda: |-
      if (id(position_map).state < 1)
      {
        return LOCK_STATE_UNLOCKED;
      } 
      else
      {
        return LOCK_STATE_LOCKED;
      }
    lock_action:
      - stepper.report_position:
          id: my_stepper
          position: !lambda |-
            return id(position_map).state;
      - stepper.set_target:
          id: my_stepper
          target: 9000
    unlock_action:
      - stepper.report_position:
          id: my_stepper
          position: !lambda |-
            return id(position_map).state;
      - stepper.set_target:
          id: my_stepper
          target: 0