Add Adjust topic and improve state handling

Add adjusting topic to allow for tweaking the open/close endpoints.
Improved the state handling/transitions so that it will only change
states when IDLE.

blinds.ino

@@ -6,9 +6,16 @@ WiFiClient net;
 MQTTClient client;
 AccelStepper stepper(AccelStepper::HALF4WIRE, D0, D2, D1, D3);
 
+// Config
 const char ssid[] = "";
-const char pw[] = "";
+const char wifi_pw[] = "";
-const char mqtt_addr[] = "192.168.10.30";
+const char mqtt_user[] = "";
+const char mqtt_pw[] = "";
+const char mqtt_addr[] = "";
+const char client_name[] = "";
+
+
+// End Config
 
 unsigned long lastMillis = 0;
 
@@ -18,69 +25,103 @@ const int SLACK = 1;
 const int OPENING_BLINDS = 2;
 const int CLOSING_BLINDS = 3;
 const int IDLE = 4;
+const int ADJUSTING = 5;
 
 int state = SETUP;
 int previousState = SETUP;
 bool blindsOpen = false;
 
+long fullyOpenPosition = -14000;
+long fullyClosedPosition = 0;
+
 void connect() {
-  Serial.print("checking wifi...");
+  Serial.println("checking wifi...");
   while (WiFi.status() != WL_CONNECTED) {
     Serial.print(".");
     delay(1000);
   }
 
-  Serial.print("\nconnecting...");
+  Serial.println("\nconnecting...");
-  while (!client.connect("bedroom-blinds-1", "cameron", pw)) {
+  while (!client.connect(client_name, mqtt_user, mqtt_pw)) {
     Serial.print(".");
     delay(1000);
   }
 
   Serial.println("\nconnected!");
 
-  client.subscribe("/blinds/bedroom/1");
+  client.subscribe("/bedroom/blinds/2");
+  client.subscribe("/bedroom/blinds/2/adjust");
 }
 
 void messageReceived(String &topic, String &payload) {
   Serial.println("incoming: " + topic + " - " + payload);
 
-  // Note: Do not use the client in the callback to publish, subscribe or
+  if (topic.endsWith("adjust")) {
-  // unsubscribe as it may cause deadlocks when other things arrive while
+    int adjustment;
-  // sending and receiving acknowledgments. Instead, change a global variable,
+    sscanf(payload.c_str(), "%d", &adjustment);
-  // or push to a queue and handle it in the loop after calling `client.loop()`.
+    adjustClosedPosition(adjustment);
-  if (payload.indexOf("open") != -1) {
-    openBlinds();
-  } else if (payload.indexOf("close") != -1) {
-    closeBlinds();
   } else {
-    Serial.println(payload);
+    if (payload.indexOf("open") != -1) {
+      openBlinds();
+    } else if (payload.indexOf("close") != -1) {
+      closeBlinds();
+    } else if (payload.indexOf("reset") != -1) {
+      Serial.println("Resetting current position and setting blinds state to closed");
+      stepper.setCurrentPosition(0);
+      blindsOpen = false;
+    } else {
+      Serial.println(payload);
+    }
+  }
+}
+
+void updateState(int newState) {
+  previousState = state;
+  state = newState;
+
+  if(newState == IDLE) {
+    Serial.println("Transitioning to idle");
+  } else {
+    Serial.print("Moving ");
+    Serial.print(previousState);
+    Serial.print(" -> ");
+    Serial.println(newState);
   }
 }
 
 void openBlinds() {
-  if (!blindsOpen) {
+  if (!blindsOpen && state == IDLE) {
     Serial.println("Opening Blinds");
-    previousState = state;
+    updateState(OPENING_BLINDS);
-    state = OPENING_BLINDS;
     stepper.enableOutputs();
-    stepper.moveTo(-14000);
+    stepper.moveTo(fullyOpenPosition);
   }
 }
 
 void closeBlinds() {
-  if (blindsOpen) {
+  if (blindsOpen && state == IDLE) {
     Serial.println("Closing Blinds");
-    previousState = state;
+    updateState(CLOSING_BLINDS);
-    state = CLOSING_BLINDS;
     stepper.enableOutputs();
-    stepper.moveTo(0);
+    stepper.moveTo(fullyClosedPosition);
   }
 }
 
+void adjustClosedPosition(int offset) {
+  if(offset == 0 || state != IDLE) return;
+
+  Serial.print("Adjust by: ");
+  Serial.println(offset);
+
+  updateState(ADJUSTING);
+  stepper.enableOutputs();
+  stepper.move(offset);
+}
+
 void setup() {
   Serial.begin(115200);
 
-  WiFi.begin(ssid, pw);
+  WiFi.begin(ssid, wifi_pw);
 
   client.begin(mqtt_addr, 1883, net);
   client.onMessage(messageReceived);
@@ -112,15 +153,14 @@ void loop() {
       } else if (previousState == CLOSING_BLINDS) {
         stepper.move(-3000);
       } else if (stepper.distanceToGo() == 0) {
-        state = IDLE;
+        updateState(IDLE);
         stepper.disableOutputs();
-        Serial.println("Transitioning to IDLE");
         return;
-      } else {
-        stepper.run();
       }
 
-      // Update previous to SLACK until we take up the slack
+      stepper.run();
+
+      // Update previous to SLACK until we take up the slack to prevent the stepper from moving forever
       previousState = state;
       break;
     case OPENING_BLINDS:
@@ -139,19 +179,46 @@ void loop() {
         bool open = state == OPENING_BLINDS;
         blindsOpen = open;
         sendBlindsUpdate(open);
-        previousState = state;
+        updateState(SLACK);
-        state = SLACK;
       }
+      break;
+    case ADJUSTING:
+      if (millis() - lastMillis > 1000) {
+        Serial.println("Adjusting...");
+        lastMillis = millis();
+      }
+
+      stepper.run();
+
+      if (stepper.distanceToGo() == 0) {
+        Serial.print("Finished adjusting to: ");
+        Serial.println(stepper.currentPosition());
+
+        updateState(IDLE);
+        stepper.disableOutputs();
+
+        if(blindsOpen) {
+          fullyOpenPosition = stepper.currentPosition();
+
+          Serial.print("New open position: ");
+          Serial.println(fullyOpenPosition);
+        } else {
+          fullyClosedPosition = stepper.currentPosition();
+
+          Serial.print("New closed position: ");
+          Serial.println(fullyClosedPosition);
+        }
+      }
+
       break;
   }
 }
 
 void setup_stepper() {
-  previousState = state;
+  updateState(IDLE);
-  state = IDLE;
   stepper.setCurrentPosition(-3000);
 }
 
 void sendBlindsUpdate(bool isOpen) {
-  client.publish("/blinds/bedroom/1/status", isOpen ? "true" : "false", true);
+  client.publish("/bedroom/blinds/2/status", isOpen ? "true" : "false", true);
 }