Stop command

[joeyjojo747]

I am using the cover to control a stepper motor. The stepper motor control uses a while loop to run the motor until a limit switch is activated. Im having trouble incorporating the HACover::CommandStop. Once the open command is received it stays in the while loop so the stop command isn't received until the loop is completed. Help appreciated. void onCoverCommand(HACover::CoverCommand cmd) { if (cmd == HACover::CommandOpen) { Serial.println("Command: Open"); WebSerial.println("Command: Open"); digitalWrite(stepperPin_sleep, LOW); //wake up the motor driver digitalWrite(dirPin, LOW); //Changes the rotations direction while (digitalRead(doorOpenLimit) == HIGH) { digitalWrite(stepPin, HIGH); delayMicroseconds(speed); digitalWrite(stepPin, LOW); delayMicroseconds(speed); yield(); } digitalWrite(stepperPin_sleep, HIGH); // put the motor driver to sleep setDoorState(); //cover.setState(HACover::StateOpening);

} else if (cmd == HACover::CommandClose) { Serial.println("Command: Close"); WebSerial.println("Command: Close"); closeDoorCommand(); //cover.setState(HACover::StateClosing);

} else if (cmd == HACover::CommandStop) { Serial.println("Command: Stop"); WebSerial.println("Command: Stop"); //cover.setState(HACover::StateStopped); digitalWrite(stepperPin_sleep, HIGH); }

// Available states: // HACover::StateClosed // HACover::StateClosing // HACover::StateOpen // HACover::StateOpening // HACover::StateStopped

// You can also report position using setPosition() method } doggy_door_v3_rebuild1_mqttDiscovery.zip

[rrozema]

Have a look at non-blocking calls using the millis() or micros() function. For an example see the BlinkWithoutDelay example.

The idea is that you do not call while nor delay to control the motor in a loop after you've received a start command, but instead take it one step at a time: every time the loop() function gets called you check to see if it is time yet for a next action. If it isn't time yet, you can do other things like for example checking to see if someone sent you a stop command.

[joeyjojo747]

I got the non-blocking method working. Thank you for your guidance.