# Roborock door with homeyduino ESP8266, L298N and Nema 17 **URL:** \ **Category:** Devices\ **Created:** [March 9, 2023, 6:57pm UTC](https://community.homey.app/t/roborock-door-with-homeyduino-esp8266-l298n-and-nema-17/77412 "2023-03-09T18:57:41Z")\ **Posts on this page:** 3\ **Page:** 1
**Author:** ![Gisle\_Johnsen](https://sea1.discourse-cdn.com/flex025/user_avatar/community.homey.app/gisle_johnsen/32/9720_2.png) [@Gisle\_Johnsen](https://community.homey.app/u/Gisle_Johnsen)\ **Post date:** [March 9, 2023, 6:57pm UTC](https://community.homey.app/t/roborock-door-with-homeyduino-esp8266-l298n-and-nema-17/77412/1 "2023-03-09T18:57:42Z")
Hello. I am currently making an automated garage door for my max v6 roborock under the kitchen cabinets I am very close but something is wrong with the code I believe. I am using esp8266, L298N driver and a Nema 17 stepper motor. I implement to Homey by using the Homeyduino - > include \ I paired it to Homey and it showes up witouht problems. But, the motor does not behave as it should. It vibrates and tries, but dosent turn as it should. As I am not that good at coding I hoped someone could take a look at the code and maybe see what is wrong. I have followed this description as the hardware and wirering goes… ![esp](https://us1.discourse-cdn.com/flex025/uploads/athom/original/3X/a/b/ab27bc4af0439f475c2f933c60950a3b144a81c3.jpeg) This is the code I used: > #include \ > #include \ > #include \ > > unsigned long previousMillis = 0; > const unsigned long interval = 2000; //Interval in milliseconds for reading setpoint from Homey > > #include \ > #define stepsPerRevolution 2040 > Stepper stepper(stepsPerRevolution, 5, 14, 12, 4); //This are PIN D1 D5 D6 D2 on the ESP8266 > > int Relais = 13; //PIN D7 on ESP8266 Relay for put on and off stepper motor > > float PositionFloat = 0; //Setpoint from Homey > > int steps1; //Stepcounter > int stepsHomey; //Setpoint from Homey changed to stepper total > > void wifi() { //This loop is for connecting to WiFi > if (WiFi.status() != WL\_CONNECTED) { > Serial.print(“Connecting with WiFi “); > WiFi.begin(“xxxxxxxxx”, “xxxxxxxx”); > uint8\_t timeout = 30; > while (WiFi.status() != WL\_CONNECTED) { > delay(500); Serial.print(”.”); > if (timeout\<1) break; > } > if (WiFi.status() == WL\_CONNECTED) { > Serial.println(" "); > Serial.println(“Connected to WiFi!”); > } > } > } > > void setup() { > Serial.begin(9600); > Homey.begin(“VacuumRobotDoor”); //The name of your project, every project needs another name! > Homey.setClass(“blinds”); //Put here the device class, in this case Blinds > Homey.addCapability(“windowcoverings\_set”, ValHomey); //Put here the capability > Homey.setCapabilityValue(“windowcoverings\_set”, ValHomey); > steps1 = 0; > } > > void loop() { > Homey.loop(); > wifi(); > steppert(); > unsigned long currentMillis = millis(); > if(currentMillis - previousMillis \> interval) { > previousMillis = currentMillis; > ValHomey (); > } > } > > void steppert(){ > stepsHomey = (PositionFloat \* 9180); //[9180] Is the total ammount of steps wich i need to be taken > if (stepsHomey != steps1){ //To activate relais before steps will be made! > digitalWrite (Relais, HIGH); //Relay activated > } > > if (stepsHomey == steps1){ //To deactivate relais before when stepper motor is not in use > digitalWrite (Relais, LOW); //Relay not activated > } > > if (stepsHomey \> steps1){ //Circuit for turning CW > stepper.setSpeed(14); //Stepper speed > stepper.step(1); //Steps per time > steps1++; //Stepcounter > } > > if (stepsHomey \< steps1){ //Circuit for turning CCW > stepper.setSpeed(14); //Stepper speed > stepper.step(-1); //Steps per time > steps1–; //Stepcounter > } > } > > void ValHomey (){ > PositionFloat = Homey.value.toFloat(); //number 0.00 - 1.00 > Serial.print ("Setpoint from the Homey: "); Serial.println(stepsHomey); > Serial.print ("Actual position of the steppermotor: "); Serial.println(steps1); > } And here is the mechanism I am printing at work in a few days… > **[Nema 17 gearing with lifting arm by mika2de](https://www.thingiverse.com/thing:4817927?fbclid=IwAR3k4KKXw94sYt23gd9AD3swuA2Pq4WXvwVF2ot1Z3cStyFBNod5OVKz8mk)** > > A gearing mechanism to lift a kitchen skirting board up and down and hide my vacuum cleaner robot under the kitchenette. I designed this gearing for higher torque as the wooden board is pretty heavy for a small nema 17. > Project description on... ---
**Author:** ![Homey\_Lampje](https://sea1.discourse-cdn.com/flex025/user_avatar/community.homey.app/homey_lampje/32/10392_2.png) [@Homey\_Lampje](https://community.homey.app/u/Homey_Lampje)\ **Post date:** [March 9, 2023, 10:32pm UTC](https://community.homey.app/t/roborock-door-with-homeyduino-esp8266-l298n-and-nema-17/77412/2 "2023-03-09T22:32:28Z")
Trouble shoot your code without the intergration with homeyduino/homey. Google is your best friend for this kind of projects…. [https://lastminuteengineers.com/stepper-motor-l298n-arduino-tutorial/](https://lastminuteengineers.com/stepper-motor-l298n-arduino-tutorial/) ---
**Author:** ![Gisle\_Johnsen](https://sea1.discourse-cdn.com/flex025/user_avatar/community.homey.app/gisle_johnsen/32/9720_2.png) [@Gisle\_Johnsen](https://community.homey.app/u/Gisle_Johnsen)\ **Post date:** [March 10, 2023, 7:53am UTC](https://community.homey.app/t/roborock-door-with-homeyduino-esp8266-l298n-and-nema-17/77412/3 "2023-03-10T07:53:40Z")
> [@Homey\_Lampje](#): > > omeyduino/homey Thank you. I will have a look this weekend to see if I can solved it. 🙂