bed-controller2.yaml

#
# EspHome device that controls the inclination of a bed.  Assumes the Esp32
#   is connected to a 12V motor via a motor controller with GPIO4 and 5 
#   connected to the forward and reverse PWM inputs.  Also requires an 
#   ADXL345 accelerometer that is mounted under the bed frame in such a way
#   that its tilt angle can be determined based on it becoming "off_vertical".
#   This is used to stop the bed motor once the ADXL345 tells this Esp32 the
#   bed is inclined as desired.  I also have an LCD readout but that is optional.
#
esphome:
  name: bed-controller2
  friendly_name: Bed Controller2
  on_boot:
    # network not up yet when at 600 priority
    - priority: 600
      then:
        - light.turn_on: 
            id: onboard_led
            red: 100%
            green: 0%
            blue: 0%
    # network and mqtt are up, turn light green off and enable motor
    - priority: 200
      then:
        - output.turn_on: motor_ren
        - output.turn_on: motor_len
        - delay: 10s
        - light.turn_off: 
            id: onboard_led
        - lambda: |-
            id(lcd).no_backlight();

  comment: esp32-c3-devkitm-1

  libraries:
    - "Wire"
    - "SPI"
    - "Adafruit BusIO"
    - "Adafruit Unified Sensor"
    - "Adafruit ADXL345"

external_components:
  - source:
      type: git
      url: https://github.com/jdillenburg/esphome
      ref: main
    components: [ adxl345 ]

packages:
  wifi: !include { file: "packages/wifi.yaml", vars: { ssid: "bed-controller" }}

esp32:
  board: esp32-c3-devkitm-1
  framework:
    type: arduino
    
    
# Enable logging
logger:
  level: WARN

# Enable Home Assistant API
api:
  encryption:
    key: !secret bed_controller2_api_key

ota:
  - platform: esphome
    password: "630cb512ba32dcd66c55220b3921a0b0"

# Sync time with Home Assistant.
time:
  - platform: homeassistant
    id: homeassistant_time

# Text sensors with general information.
text_sensor:
  # Expose ESPHome version as sensor.
  - platform: version
    name: ESPHome Version
  # Expose WiFi information as sensors.
  - platform: wifi_info
    ip_address:
      name: IP
    ssid:
      name: SSID
    bssid:
      name: BSSID

switch:
  - platform: restart
    name: "Restart"

globals:
  - id: motor_speed
    type: float
    restore_value: False
    initial_value: '10'
  - id: num_speeds
    type: int
    restore_value: False
    initial_value: '2'
  - id: motor_dir_char
    type: std::string
    initial_value: '"+"'

output:
  - platform: ledc
    pin: GPIO4
    id: motor_forward_pin
  - platform: ledc
    pin: GPIO5
    id: motor_reverse_pin
  - platform: gpio
    pin: GPIO6
    id: motor_ren
  - platform: gpio
    pin: GPIO7
    id: motor_len

fan:
  - platform: hbridge
    id: bed_motor
    name: "Bed Motor"
    pin_a: motor_forward_pin
    pin_b: motor_reverse_pin
    decay_mode: slow

number:
  - platform: template
    name: Lower limit
    id: bed_lower_limit
    icon: "mdi:cogs"
    optimistic: true
    restore_value: true 
    initial_value: "0.0"
    min_value: -90.0
    max_value: 90.0
    step: 1.0
    unit_of_measurement: degrees
    on_value: 
      then:
        - script.execute: start_motor_if_needed
  - platform: template
    name: Upper limit
    id: bed_upper_limit
    icon: "mdi:cogs"
    optimistic: true
    restore_value: true 
    initial_value: "45.0"
    min_value: -90.0
    max_value: 90.0
    step: 1.0
    unit_of_measurement: degrees
    on_value: 
      then:
        - script.execute: start_motor_if_needed
  - platform: template
    name: Accuracy
    id: accuracy
    icon: "mdi:cogs"
    optimistic: true
    restore_value: true  # If you don't want to store the setting at ESP, set it to false.
    initial_value: "2.0" # Default accuracy Setting 2%
    min_value: 0.0
    max_value: 100.0
    step: 1.0
    on_value: 
      then:
        - script.execute: start_motor_if_needed
  - platform: template
    name: Desired percentage
    id: bed_desired_position
    icon: "mdi:cogs"
    optimistic: true
    restore_value: true   # If you don't want to store the setting at ESP, set it to false.
    initial_value: "0.0"  # Default desired position Setting
    min_value: 0.0
    max_value: 100.0
    step: 1.0
    unit_of_measurement: percentage
    on_value: 
      then:
        - script.execute: start_motor_if_needed
  - platform: template
    name: Max motor speed
    id: max_speed
    icon: "mdi:cogs"
    optimistic: true
    restore_value: true    # If you don't want to store the setting at ESP, set it to false.
    initial_value: "90.0"  # Default desired max_speed setting
    min_value: 0.0
    max_value: 100.0
    step: 5.0
    unit_of_measurement: percentage
    on_value: 
      then:
        - script.execute: start_motor_if_needed

light:
  - platform: esp32_rmt_led_strip
    chipset: WS2811
    pin: GPIO8
    num_leds: 1
    rgb_order: GRB
    restore_mode: RESTORE_DEFAULT_ON
    id: onboard_led
    name: "Status light"
    # turn LCD backlight on and off along with status LED
    on_turn_off: 
      then:
        - lambda: |-
           id(lcd).no_backlight();
    on_turn_on: 
      then:
        - lambda: |-
           id(lcd).backlight();

i2c:
  sda: GPIO0
  scl: GPIO1
  frequency: 400kHz

adxl345:
  id: adxl345_sensor
  address: 0x53
  update_interval: 100ms
  off_vertical:
    id: bed_angle
    name: "Bed Angle"
    unit_of_measurement: degrees
    filters:
      - sliding_window_moving_average:
          window_size: 5
          send_every: 5
      - throttle_average: 10s
    on_value:
      then:
        - lambda: |-
            id(bed_position).publish_state(100 * (id(bed_angle).state - id(bed_lower_limit).state) / (id(bed_upper_limit).state - id(bed_lower_limit).state));
        - script.execute: start_motor_if_needed
  jitter:
    id: jitter_raw
    internal: True
    unit_of_measurement: "m/s²"
    accuracy_decimals: 3
    
sensor:
  - platform: template
    id: bed_position
    accuracy_decimals: 0
    name: "Bed Position"
    update_interval: never
    lambda: return 100 * (id(bed_angle).state - id(bed_lower_limit).state) / (id(bed_upper_limit).state - id(bed_lower_limit).state);


script:
  - id: calc_motor_speed
    then:
      - lambda: |-
          float diff = abs(id(bed_desired_position).state - id(bed_position).state);
          float speed_size = id(max_speed).state / id(num_speeds);
          if (diff > 20) {
            id(motor_speed) = id(max_speed).state;
          }
          else if (diff > 10 && id(num_speeds) > 1) {
            id(motor_speed) = speed_size * 2;
          }
          else {
            id(motor_speed) = speed_size;
          }
  - id: start_motor_if_needed
    then:
      - script.execute: calc_motor_speed
      - if:
          condition:
            lambda: 'return id(bed_position).state < -id(accuracy).state;'
          then:
            - logger.log: 'bed lower then lower limit!'
            - fan.turn_on:
                id: bed_motor
                direction: FORWARD
                speed:
                  !lambda |-
                    id(motor_dir_char) = "+";
                    return id(motor_speed);
          else:
            - if:
                condition:
                  lambda: 'return id(bed_position).state > 100.0 + id(accuracy).state;'
                then:
                  - logger.log: 'bed higher than high limit!'
                  - fan.turn_on:
                      id: bed_motor
                      direction: REVERSE
                      speed: 
                        !lambda |-
                          id(motor_dir_char) = "-";
                          return id(motor_speed);
                else:
                  - if: 
                      condition: 
                        - lambda: 'return id(bed_position).state < id(bed_desired_position).state - id(accuracy).state;'
                      then:
                        - logger.log: 'bed lower than desired, moving up'
                        - fan.turn_on: 
                            id: bed_motor
                            direction: FORWARD
                            speed: 
                              !lambda |-
                                id(motor_dir_char) = "+";
                                return id(motor_speed);
                      else:
                        - if:
                            condition:
                              - lambda: 'return id(bed_position).state > id(bed_desired_position).state + id(accuracy).state;'
                            then:
                              - logger.log: 'bed higher than desired, moving down'
                              - fan.turn_on:
                                  id: bed_motor
                                  direction: REVERSE
                                  speed:
                                    !lambda |-
                                      id(motor_dir_char) = "-";
                                      return id(motor_speed);
                            else:
                              - fan.turn_off: bed_motor
                              - lambda: |-
                                  id(motor_dir_char) = " ";
                                  id(motor_speed) = 0.0;
  
display:
  - platform: lcd_pcf8574
    id: lcd
    dimensions: 16x2
    address: 0x27
    update_interval: 30s
    lambda: |-
      static bool toggle = false;
      toggle = !toggle;
      
      if (toggle) {
        it.printf(0, 0, "I:%.0f%%  ", id(bed_desired_position).state);
      } else {
        it.printf(0, 1, "D:%.0f%%  ", id(bed_position).state);
      }