DIY smart door operating robot – step 1 (push / pull door)
Have you ever wondered how you can open / close doors within your house automatically without having to permanently install an ugly rod opening solution at the top of the door? That’s what I am trying to build – a robot that can open / close doors automatically. And I want to take you with me on that journey. I will make a YouTube video series about this!
The first video can be found here – in the first video, we will make the robot capable of pushing and pulling the door:
The ESPHome YAML code as well as links to the STL files for 3D printing the housing can be found in this post.
ESPHome YAML code
esphome:
name: door-operating-robot
friendly_name: door_operating_robot
on_boot:
- text_sensor.template.publish:
id: door_state
state: "Door paused"
- text_sensor.template.publish:
id: handle_state
state: "Handle paused"
on_loop:
then:
- stepper.report_position:
id: motor_right_wheel
position: 0
- stepper.report_position:
id: motor_left_wheel
position: 0
- stepper.report_position:
id: motor_door_handle
position: 0
esp32:
board: esp32dev
framework:
type: arduino
# Enable logging
logger:
# Enable Home Assistant API
api:
encryption:
key: YOUR_ENCRYPTION_KEY
ota:
- platform: esphome
password: YOUR_OTA_PASSWORD
wifi:
ssid: !secret wifi_ssid
password: !secret wifi_password
# Enable fallback hotspot (captive portal) in case wifi connection fails
ap:
ssid: "Door-Operating-Robot"
password: YOUR_AP_PASSWORD
captive_portal:
globals:
- id: motor_left_running
type: bool
restore_value: no
initial_value: 'false'
- id: motor_right_running
type: bool
restore_value: no
initial_value: 'false'
- id: motor_handle_running
type: bool
restore_value: no
initial_value: 'false'
stepper:
- platform: uln2003
id: motor_left_wheel
pin_a: GPIO26
pin_b: GPIO18
pin_c: GPIO19
pin_d: GPIO23
max_speed: 500 steps/s
- platform: uln2003
id: motor_right_wheel
pin_a: GPIO22
pin_b: GPIO21
pin_c: GPIO17
pin_d: GPIO16
max_speed: 500 steps/s
- platform: uln2003
id: motor_door_handle
pin_a: GPIO27
pin_b: GPIO25
pin_c: GPIO32
pin_d: GPIO4
max_speed: 250 steps/s
button:
- platform: template
name: "Open door"
on_press:
- script.execute: start_motor_left_backward
- script.execute: start_motor_right_backward
- text_sensor.template.publish:
id: door_state
state: "Opening door"
- platform: template
name: "Close door"
on_press:
- script.execute: start_motor_left_forward
- script.execute: start_motor_right_forward
- text_sensor.template.publish:
id: door_state
state: "Closing door"
- platform: template
name: "Pause door"
on_press:
- script.execute: stop_motor_left
- script.execute: stop_motor_right
- text_sensor.template.publish:
id: door_state
state: "Door Paused"
- platform: template
name: "Unlock handle"
on_press:
- script.execute: start_motor_handle_forward
- text_sensor.template.publish:
id: handle_state
state: "Unlocking handle"
- platform: template
name: "Release handle"
on_press:
- script.execute: start_motor_handle_backward
- text_sensor.template.publish:
id: handle_state
state: "Releasing handle"
- platform: template
name: "Pause handle"
on_press:
- script.execute: stop_motor_handle
- text_sensor.template.publish:
id: handle_state
state: "Handle paused"
text_sensor:
- platform: template
name: "Door state"
id: door_state
- platform: template
name: "Handle state"
id: handle_state
script:
- id: start_motor_left_forward
then:
- lambda: 'id(motor_left_running) = true;'
- stepper.set_target:
id: motor_left_wheel
target: -10
- id: start_motor_left_backward
then:
- lambda: 'id(motor_left_running) = true;'
- stepper.set_target:
id: motor_left_wheel
target: 10
- id: stop_motor_left
then:
- lambda: 'id(motor_left_running) = false;'
- stepper.set_target:
id: motor_left_wheel
target: 0
- id: start_motor_right_forward
then:
- lambda: 'id(motor_right_running) = true;'
- stepper.set_target:
id: motor_right_wheel
target: 10
- id: start_motor_right_backward
then:
- lambda: 'id(motor_right_running) = true;'
- stepper.set_target:
id: motor_right_wheel
target: -10
- id: stop_motor_right
then:
- lambda: 'id(motor_right_running) = false;'
- stepper.set_target:
id: motor_right_wheel
target: 0
- id: start_motor_handle_forward
then:
- lambda: 'id(motor_left_running) = true;'
- stepper.set_target:
id: motor_door_handle
target: -10
- id: start_motor_handle_backward
then:
- lambda: 'id(motor_left_running) = true;'
- stepper.set_target:
id: motor_door_handle
target: 10
- id: stop_motor_handle
then:
- lambda: 'id(motor_left_running) = false;'
- stepper.set_target:
id: motor_door_handle
target: 0STL files for housing
The STL files for the housing can be found here:
https://www.printables.com/model/1029199-door-operating-robot-v1
🤖
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