#:########################################################################################:#
# TITLE: ASTRONOMICAL CLOCK STEPPER
# zorruno.com layout v1.1 2026
#:########################################################################################:#
# REPO:
# https://home.fox.co.nz/gitea/zorruno/zorruno-homeassistant/src/branch/master/esphome/esp-astroclockstepper.yaml
#:########################################################################################:#
# VERSIONS:
# V1.1 2026-06-22 Added onboard D1 Mini LED flash on each motor step
# V1.0 2026-06-22 Initial Version
#:########################################################################################:#
# HARDWARE:
# ESP8266 D1 Mini Clone
# 5V 28BYJ-48 Stepper Motor
# Keyestudio / ULN2003 style 5V stepper driver board
#
# Stepper Driver:
# - IN1: GPIO14 / D5
# - IN2: GPIO12 / D6
# - IN3: GPIO13 / D7
# - IN4: GPIO15 / D8
# - VCC: 5V motor supply
# - GND: Common GND with ESP8266
#
# Physical Buttons:
# - Fast Forward: GPIO5  / D1
# - Slow Forward: GPIO4  / D2
# - Fast Reverse: GPIO0  / D3
# - Slow Reverse: GPIO16 / D0
#
# Button board:
# - Uses built-in 103 pull-up resistors, 10k ohm
# - Buttons should pull the GPIO pin to GND when pressed
# - Pull-ups must go to 3.3V, not 5V
#
# Onboard Step LED:
# - GPIO2 / D4
# - Active-low on most D1 Mini boards
#:########################################################################################:#
# OPERATION NOTES:
# - Normal rotation starts automatically after boot.
# - Default rotation is one full revolution every 365.2422 days.
# - Default step count is 4096 steps per full revolution.
# - Normal movement is extremely slow, about one step every 2.14 hours.
# - Motor coils are powered only while stepping, then released.
# - No holding torque is used.
# - Web template switches mimic held physical buttons.
# - Manual movement only applies while a physical button or web switch is held/on.
# - Position counter wraps back to zero after one full rotation.
# - Onboard D1 Mini LED flashes briefly every time a motor step is issued.
#:########################################################################################:#
# OFFLINE NOTES:
# a) Home Assistant OFFLINE, but Network and MQTT ONLINE
#    - Device remains controllable via local web portal and MQTT commands
#    - HA entities unavailable until HA returns
# b) MQTT OFFLINE, but WiFi/Network and HA API ONLINE
#    - Device remains controllable from Home Assistant via API
#    - Local web portal remains available
# c) Entire WiFi/Network OFFLINE
#    - No HA API, MQTT, or web control available
#    - Physical buttons continue to work
#    - Normal motor timing continues from device uptime
# d) Device power loss / reboot
#    - V1 does not restore exact astronomical position after reboot
#    - Re-align manually using the web or physical button controls
#:########################################################################################:#


#:########################################################################################:#
# SUBSTITUTIONS: Specific device variable substitutions
# If NOT using a secrets file, just replace these with the passwords etc (in quotes)
#:########################################################################################:#
substitutions:
  # Device Naming
  device_name: "esp-astroclockstepper1"
  friendly_name: "Astronomical Clock Stepper"
  description_comment: "Astronomical Clock Stepper :: ESP8266 D1 Mini with 28BYJ-48 Stepper Motor (Layout V1.1)"
  device_area: "Standalone"

  # Project Naming
  project_name: "zorruno.Astronomical Clock Stepper"
  project_version: "v1.1"

  # Passwords & Secrets (Unfortunately, you cannot use substitutions inside secret names)
  api_key: !secret esp-api_key
  ota_pass: !secret esp-ota_pass
  static_ip_address: !secret esp-astroclockstepper1_ip

  # If we are changing IP addresses, you must update the current IP address here, otherwise it remains
  # Don't forget to switch it back when changed.
  current_ip_address: ${static_ip_address}

  # MQTT Topics
  mqtt_command_main_topic: !secret mqtt_command_main_topic
  mqtt_status_main_topic: !secret mqtt_status_main_topic
  mqtt_device_name: "astro-clock-stepper1"
  mqtt_command_topic: "${mqtt_command_main_topic}/${mqtt_device_name}"
  mqtt_status_topic: "${mqtt_status_main_topic}/${mqtt_device_name}"

  # Device Settings
  log_level: "INFO"
  sensor_update_interval: "1s"
  calculated_sensor_update_interval: "60s"

  # Astronomical Clock Settings
  rotation_days: "365.2422"
  steps_per_rotation: "4096"
  normal_direction_name: "Clockwise"

  # Use 1 for normal direction.
  # Use -1 if the motor rotates the wrong way.
  normal_direction_multiplier: "1"

  # Manual Movement Speeds
  manual_fast_rotation_seconds: "60"
  manual_slow_rotation_seconds: "300"

  # Coil Release
  coil_release_ms: "500"

  # Step LED
  onboard_step_led_pin: GPIO2
  step_led_flash_ms: "25"

  # Stepper Output Pins
  stepper_in1_pin: GPIO14
  stepper_in2_pin: GPIO12
  stepper_in3_pin: GPIO13
  stepper_in4_pin: GPIO15

  # Physical Button Input Pins
  button_fast_forward_pin: GPIO5
  button_slow_forward_pin: GPIO4
  button_fast_reverse_pin: GPIO0
  button_slow_reverse_pin: GPIO16

  # Entity Naming
  web_fast_forward_name: "Web Fast Forward"
  web_slow_forward_name: "Web Slow Forward"
  web_fast_reverse_name: "Web Fast Reverse"
  web_slow_reverse_name: "Web Slow Reverse"

  physical_fast_forward_name: "Physical Fast Forward"
  physical_slow_forward_name: "Physical Slow Forward"
  physical_fast_reverse_name: "Physical Fast Reverse"
  physical_slow_reverse_name: "Physical Slow Reverse"

  zero_position_name: "Zero Position Counter"


#:########################################################################################:#
# PACKAGES: Included Common Packages
# https://esphome.io/components/packages.html
#:########################################################################################:#
packages:
  #### WIFI, Network (Static/DHCP/IPV6 etc), Fallback AP, Safemode ####
  common_wifi: !include
    file: common/network_common.yaml
    vars:
      local_device_name: "${device_name}"
      local_static_ip_address: "${static_ip_address}"
      local_ota_pass: "${ota_pass}"
      local_current_ip_address: "${current_ip_address}"

  #### HOME ASSISTANT API (choose encryption or no encryption options) ####
  common_api: !include
    file: common/api_common.yaml
    #file: common/api_common_noencryption.yaml
    vars:
      local_api_key: "${api_key}"

  #### MQTT ####
  common_mqtt: !include
    file: common/mqtt_common.yaml
    vars:
      local_device_name: "${device_name}"

  #### WEB PORTAL ####
  common_webportal: !include common/webportal_common.yaml

  #### SNTP (Only use if you want/need accurate timeclocks) ####
  #common_sntp: !include common/sntp_common.yaml

  #### DIAGNOSTICS Sensors ####
  diag_basic: !include common/include_basic_diag_sensors.yaml
  diag_more: !include common/include_more_diag_sensors.yaml
  #diag_debug: !include common/include_debug_diag_sensors.yaml
  #diag_resetcount: !include common/include_resetcount_diag_sensors.yaml


#:########################################################################################:#
# ESPHOME:
# https://esphome.io/components/esphome.html
#:########################################################################################:#
esphome:
  name: "${device_name}"
  friendly_name: "${friendly_name}"
  comment: "${description_comment}"
  area: "${device_area}"
  project:
    name: "${project_name}"
    version: "${project_version}"

  on_boot:
    priority: -100
    then:
      - output.turn_off: onboard_step_led
      - logger.log:
          level: INFO
          format: "Astronomical Clock Stepper started. Normal rotation is %s days per full revolution."
          args:
            - '"${rotation_days}"'


#:########################################################################################:#
# ESP PLATFORM AND FRAMEWORK:
# https://esphome.io/components/esp8266.html
#:########################################################################################:#
esp8266:
  board: d1_mini
  restore_from_flash: true

preferences:
  flash_write_interval: 5min

mdns:
  disabled: false


#:########################################################################################:#
# LOGGING:
# https://esphome.io/components/logger.html
#:########################################################################################:#
logger:
  level: "${log_level}"
  baud_rate: 0


#:########################################################################################:#
# GLOBALS:
# Internal position, timing, mode, and held-button state
# https://esphome.io/components/globals.html
#:########################################################################################:#
globals:
  - id: current_position_step
    type: int
    restore_value: no
    initial_value: "0"

  - id: current_phase_index
    type: int
    restore_value: no
    initial_value: "0"

  - id: last_loop_ms
    type: uint32_t
    restore_value: no
    initial_value: "0"

  - id: last_step_ms
    type: uint32_t
    restore_value: no
    initial_value: "0"

  - id: step_accumulator_ms
    type: double
    restore_value: no
    initial_value: "0.0"

  - id: coils_are_on
    type: bool
    restore_value: no
    initial_value: "false"

  - id: step_led_is_on
    type: bool
    restore_value: no
    initial_value: "false"

  - id: step_led_started_ms
    type: uint32_t
    restore_value: no
    initial_value: "0"

  # 0 = Normal
  # 1 = Fast Forward
  # 2 = Slow Forward
  # 3 = Fast Reverse
  # 4 = Slow Reverse
  - id: current_motion_mode
    type: int
    restore_value: no
    initial_value: "0"

  # Physical Button States
  - id: physical_fast_forward_active
    type: bool
    restore_value: no
    initial_value: "false"

  - id: physical_slow_forward_active
    type: bool
    restore_value: no
    initial_value: "false"

  - id: physical_fast_reverse_active
    type: bool
    restore_value: no
    initial_value: "false"

  - id: physical_slow_reverse_active
    type: bool
    restore_value: no
    initial_value: "false"

  # Web Button States
  - id: web_fast_forward_active
    type: bool
    restore_value: no
    initial_value: "false"

  - id: web_slow_forward_active
    type: bool
    restore_value: no
    initial_value: "false"

  - id: web_fast_reverse_active
    type: bool
    restore_value: no
    initial_value: "false"

  - id: web_slow_reverse_active
    type: bool
    restore_value: no
    initial_value: "false"


#:########################################################################################:#
# OUTPUT:
# Stepper driver GPIO outputs and onboard step LED
# https://esphome.io/components/output/gpio.html
#:########################################################################################:#
output:
  - platform: gpio
    id: stepper_in1
    pin: ${stepper_in1_pin}

  - platform: gpio
    id: stepper_in2
    pin: ${stepper_in2_pin}

  - platform: gpio
    id: stepper_in3
    pin: ${stepper_in3_pin}

  - platform: gpio
    id: stepper_in4
    pin: ${stepper_in4_pin}

  # D1 Mini onboard LED is usually GPIO2 / D4 and active-low
  - platform: gpio
    id: onboard_step_led
    pin:
      number: ${onboard_step_led_pin}
      inverted: true


#:########################################################################################:#
# SWITCH:
# Web held-button controls
# https://esphome.io/components/switch/template.html
#:########################################################################################:#
switch:
  - platform: template
    name: "${web_fast_forward_name}"
    id: web_fast_forward_switch
    icon: mdi:fast-forward
    optimistic: true
    restore_mode: ALWAYS_OFF
    turn_on_action:
      - switch.turn_off: web_slow_forward_switch
      - switch.turn_off: web_fast_reverse_switch
      - switch.turn_off: web_slow_reverse_switch
      - globals.set:
          id: web_fast_forward_active
          value: "true"
    turn_off_action:
      - globals.set:
          id: web_fast_forward_active
          value: "false"

  - platform: template
    name: "${web_slow_forward_name}"
    id: web_slow_forward_switch
    icon: mdi:play-speed
    optimistic: true
    restore_mode: ALWAYS_OFF
    turn_on_action:
      - switch.turn_off: web_fast_forward_switch
      - switch.turn_off: web_fast_reverse_switch
      - switch.turn_off: web_slow_reverse_switch
      - globals.set:
          id: web_slow_forward_active
          value: "true"
    turn_off_action:
      - globals.set:
          id: web_slow_forward_active
          value: "false"

  - platform: template
    name: "${web_fast_reverse_name}"
    id: web_fast_reverse_switch
    icon: mdi:rewind
    optimistic: true
    restore_mode: ALWAYS_OFF
    turn_on_action:
      - switch.turn_off: web_fast_forward_switch
      - switch.turn_off: web_slow_forward_switch
      - switch.turn_off: web_slow_reverse_switch
      - globals.set:
          id: web_fast_reverse_active
          value: "true"
    turn_off_action:
      - globals.set:
          id: web_fast_reverse_active
          value: "false"

  - platform: template
    name: "${web_slow_reverse_name}"
    id: web_slow_reverse_switch
    icon: mdi:rewind-outline
    optimistic: true
    restore_mode: ALWAYS_OFF
    turn_on_action:
      - switch.turn_off: web_fast_forward_switch
      - switch.turn_off: web_slow_forward_switch
      - switch.turn_off: web_fast_reverse_switch
      - globals.set:
          id: web_slow_reverse_active
          value: "true"
    turn_off_action:
      - globals.set:
          id: web_slow_reverse_active
          value: "false"


#:########################################################################################:#
# BINARY SENSORS:
# Physical button inputs using external 103 / 10k pull-ups
# https://esphome.io/components/binary_sensor/gpio.html
#:########################################################################################:#
binary_sensor:
  - platform: gpio
    name: "${physical_fast_forward_name}"
    id: physical_fast_forward_button
    pin:
      number: ${button_fast_forward_pin}
      mode: INPUT
      inverted: true
    filters:
      - delayed_on: 20ms
      - delayed_off: 20ms
    on_press:
      - globals.set:
          id: physical_fast_forward_active
          value: "true"
    on_release:
      - globals.set:
          id: physical_fast_forward_active
          value: "false"

  - platform: gpio
    name: "${physical_slow_forward_name}"
    id: physical_slow_forward_button
    pin:
      number: ${button_slow_forward_pin}
      mode: INPUT
      inverted: true
    filters:
      - delayed_on: 20ms
      - delayed_off: 20ms
    on_press:
      - globals.set:
          id: physical_slow_forward_active
          value: "true"
    on_release:
      - globals.set:
          id: physical_slow_forward_active
          value: "false"

  - platform: gpio
    name: "${physical_fast_reverse_name}"
    id: physical_fast_reverse_button
    pin:
      number: ${button_fast_reverse_pin}
      mode: INPUT
      inverted: true
    filters:
      - delayed_on: 20ms
      - delayed_off: 20ms
    on_press:
      - globals.set:
          id: physical_fast_reverse_active
          value: "true"
    on_release:
      - globals.set:
          id: physical_fast_reverse_active
          value: "false"

  - platform: gpio
    name: "${physical_slow_reverse_name}"
    id: physical_slow_reverse_button
    pin:
      number: ${button_slow_reverse_pin}
      mode: INPUT
      inverted: true
    filters:
      - delayed_on: 20ms
      - delayed_off: 20ms
    on_press:
      - globals.set:
          id: physical_slow_reverse_active
          value: "true"
    on_release:
      - globals.set:
          id: physical_slow_reverse_active
          value: "false"


#:########################################################################################:#
# BUTTON:
# Utility buttons
# https://esphome.io/components/button/template.html
#:########################################################################################:#
button:
  - platform: template
    name: "${zero_position_name}"
    id: zero_position_counter_button
    icon: mdi:counter
    on_press:
      - globals.set:
          id: current_position_step
          value: "0"
      - globals.set:
          id: current_phase_index
          value: "0"
      - globals.set:
          id: step_accumulator_ms
          value: "0.0"
      - logger.log:
          level: INFO
          format: "Position counter zeroed."


#:########################################################################################:#
# SENSOR:
# Position and calculated movement sensors
# https://esphome.io/components/sensor/template.html
#:########################################################################################:#
sensor:
  - platform: template
    name: "Position Days"
    id: position_days_sensor
    icon: mdi:calendar-clock
    unit_of_measurement: "days"
    accuracy_decimals: 4
    update_interval: "${sensor_update_interval}"
    lambda: |-
      return ((double) id(current_position_step) * ${rotation_days}) / ${steps_per_rotation};

  - platform: template
    name: "Position Step"
    id: position_step_sensor
    icon: mdi:counter
    accuracy_decimals: 0
    update_interval: "${sensor_update_interval}"
    lambda: |-
      return id(current_position_step);

  - platform: template
    name: "Days Per Step"
    id: days_per_step_sensor
    icon: mdi:calendar-arrow-right
    unit_of_measurement: "days/step"
    accuracy_decimals: 8
    update_interval: "${calculated_sensor_update_interval}"
    lambda: |-
      return ${rotation_days} / ${steps_per_rotation};

  - platform: template
    name: "Hours Per Step"
    id: hours_per_step_sensor
    icon: mdi:timer-outline
    unit_of_measurement: "h/step"
    accuracy_decimals: 8
    update_interval: "${calculated_sensor_update_interval}"
    lambda: |-
      return (${rotation_days} * 24.0) / ${steps_per_rotation};

  - platform: template
    name: "Normal Step Interval"
    id: normal_step_interval_sensor
    icon: mdi:timer-cog-outline
    unit_of_measurement: "s/step"
    accuracy_decimals: 4
    update_interval: "${calculated_sensor_update_interval}"
    lambda: |-
      return (${rotation_days} * 24.0 * 60.0 * 60.0) / ${steps_per_rotation};


#:########################################################################################:#
# TEXT SENSOR:
# Human-readable status sensors
# https://esphome.io/components/text_sensor/template.html
#:########################################################################################:#
text_sensor:
  - platform: template
    name: "Motion Mode"
    id: motion_mode_text_sensor
    icon: mdi:rotate-3d-variant
    update_interval: "${sensor_update_interval}"
    lambda: |-
      switch (id(current_motion_mode)) {
        case 1:
          return {"Fast Forward"};
        case 2:
          return {"Slow Forward"};
        case 3:
          return {"Fast Reverse"};
        case 4:
          return {"Slow Reverse"};
        case 0:
        default:
          return {"Normal"};
      }

  - platform: template
    name: "Normal Direction"
    id: normal_direction_text_sensor
    icon: mdi:rotate-right
    update_interval: "${calculated_sensor_update_interval}"
    lambda: |-
      return {"${normal_direction_name}"};


#:########################################################################################:#
# INTERVAL:
# Stepper scheduler
# https://esphome.io/components/interval.html
#:########################################################################################:#
interval:
  - interval: 5ms
    then:
      - lambda: |-
          const int STEPS_PER_ROTATION = ${steps_per_rotation};
          const int NORMAL_DIRECTION_MULTIPLIER = ${normal_direction_multiplier};

          const double NORMAL_STEP_INTERVAL_MS =
            (${rotation_days} * 24.0 * 60.0 * 60.0 * 1000.0) / ${steps_per_rotation};

          const double FAST_STEP_INTERVAL_MS =
            (${manual_fast_rotation_seconds} * 1000.0) / ${steps_per_rotation};

          const double SLOW_STEP_INTERVAL_MS =
            (${manual_slow_rotation_seconds} * 1000.0) / ${steps_per_rotation};

          const uint32_t COIL_RELEASE_MS = ${coil_release_ms};
          const uint32_t STEP_LED_FLASH_MS = ${step_led_flash_ms};

          auto all_coils_off = [&]() {
            id(stepper_in1).turn_off();
            id(stepper_in2).turn_off();
            id(stepper_in3).turn_off();
            id(stepper_in4).turn_off();
            id(coils_are_on) = false;
          };

          auto flash_step_led = [&](uint32_t now_ms) {
            id(onboard_step_led).turn_on();
            id(step_led_started_ms) = now_ms;
            id(step_led_is_on) = true;
          };

          auto set_coils_for_phase = [&](int phase) {
            const bool sequence[8][4] = {
              {true,  false, false, false},
              {true,  true,  false, false},
              {false, true,  false, false},
              {false, true,  true,  false},
              {false, false, true,  false},
              {false, false, true,  true },
              {false, false, false, true },
              {true,  false, false, true }
            };

            phase = ((phase % 8) + 8) % 8;

            if (sequence[phase][0]) {
              id(stepper_in1).turn_on();
            } else {
              id(stepper_in1).turn_off();
            }

            if (sequence[phase][1]) {
              id(stepper_in2).turn_on();
            } else {
              id(stepper_in2).turn_off();
            }

            if (sequence[phase][2]) {
              id(stepper_in3).turn_on();
            } else {
              id(stepper_in3).turn_off();
            }

            if (sequence[phase][3]) {
              id(stepper_in4).turn_on();
            } else {
              id(stepper_in4).turn_off();
            }

            id(coils_are_on) = true;
          };

          auto do_one_step = [&](int direction, uint32_t now_ms) {
            if (direction >= 0) {
              id(current_phase_index) = (id(current_phase_index) + 1) % 8;
              id(current_position_step) = (id(current_position_step) + 1) % STEPS_PER_ROTATION;
            } else {
              id(current_phase_index) = (id(current_phase_index) + 7) % 8;
              id(current_position_step) = (id(current_position_step) + STEPS_PER_ROTATION - 1) % STEPS_PER_ROTATION;
            }

            set_coils_for_phase(id(current_phase_index));
            id(last_step_ms) = now_ms;
            flash_step_led(now_ms);
          };

          const bool fast_forward_active =
            id(physical_fast_forward_active) || id(web_fast_forward_active);

          const bool slow_forward_active =
            id(physical_slow_forward_active) || id(web_slow_forward_active);

          const bool fast_reverse_active =
            id(physical_fast_reverse_active) || id(web_fast_reverse_active);

          const bool slow_reverse_active =
            id(physical_slow_reverse_active) || id(web_slow_reverse_active);

          int selected_mode = 0;
          int selected_direction = NORMAL_DIRECTION_MULTIPLIER;
          double selected_step_interval_ms = NORMAL_STEP_INTERVAL_MS;

          if (fast_forward_active) {
            selected_mode = 1;
            selected_direction = NORMAL_DIRECTION_MULTIPLIER;
            selected_step_interval_ms = FAST_STEP_INTERVAL_MS;
          } else if (slow_forward_active) {
            selected_mode = 2;
            selected_direction = NORMAL_DIRECTION_MULTIPLIER;
            selected_step_interval_ms = SLOW_STEP_INTERVAL_MS;
          } else if (fast_reverse_active) {
            selected_mode = 3;
            selected_direction = -NORMAL_DIRECTION_MULTIPLIER;
            selected_step_interval_ms = FAST_STEP_INTERVAL_MS;
          } else if (slow_reverse_active) {
            selected_mode = 4;
            selected_direction = -NORMAL_DIRECTION_MULTIPLIER;
            selected_step_interval_ms = SLOW_STEP_INTERVAL_MS;
          }

          const uint32_t now_ms = millis();

          if (id(last_loop_ms) == 0) {
            id(last_loop_ms) = now_ms;
            id(current_motion_mode) = selected_mode;
            id(step_accumulator_ms) = 0.0;
            return;
          }

          const uint32_t elapsed_ms = now_ms - id(last_loop_ms);
          id(last_loop_ms) = now_ms;

          if (selected_mode != id(current_motion_mode)) {
            id(current_motion_mode) = selected_mode;
            id(step_accumulator_ms) = 0.0;
          }

          id(step_accumulator_ms) += (double) elapsed_ms;

          if (id(step_accumulator_ms) >= selected_step_interval_ms) {
            do_one_step(selected_direction, now_ms);
            id(step_accumulator_ms) -= selected_step_interval_ms;

            // If the loop was badly delayed, avoid trying to catch up with a burst
            // of very fast steps that the motor may not physically follow.
            if (id(step_accumulator_ms) > selected_step_interval_ms) {
              id(step_accumulator_ms) = 0.0;
            }
          }

          if (
            id(coils_are_on) &&
            selected_mode == 0 &&
            ((uint32_t) (now_ms - id(last_step_ms)) >= COIL_RELEASE_MS)
          ) {
            all_coils_off();
          }

          if (
            id(step_led_is_on) &&
            ((uint32_t) (now_ms - id(step_led_started_ms)) >= STEP_LED_FLASH_MS)
          ) {
            id(onboard_step_led).turn_off();
            id(step_led_is_on) = false;
          }


#:########################################################################################:#
# MQTT:
# Device-specific MQTT command triggers, in addition to common MQTT config
# https://esphome.io/components/mqtt.html
#:########################################################################################:#
mqtt:
  on_message:
    - topic: "${mqtt_command_topic}/fast_forward/set"
      payload: "ON"
      then:
        - switch.turn_on: web_fast_forward_switch

    - topic: "${mqtt_command_topic}/fast_forward/set"
      payload: "OFF"
      then:
        - switch.turn_off: web_fast_forward_switch

    - topic: "${mqtt_command_topic}/slow_forward/set"
      payload: "ON"
      then:
        - switch.turn_on: web_slow_forward_switch

    - topic: "${mqtt_command_topic}/slow_forward/set"
      payload: "OFF"
      then:
        - switch.turn_off: web_slow_forward_switch

    - topic: "${mqtt_command_topic}/fast_reverse/set"
      payload: "ON"
      then:
        - switch.turn_on: web_fast_reverse_switch

    - topic: "${mqtt_command_topic}/fast_reverse/set"
      payload: "OFF"
      then:
        - switch.turn_off: web_fast_reverse_switch

    - topic: "${mqtt_command_topic}/slow_reverse/set"
      payload: "ON"
      then:
        - switch.turn_on: web_slow_reverse_switch

    - topic: "${mqtt_command_topic}/slow_reverse/set"
      payload: "OFF"
      then:
        - switch.turn_off: web_slow_reverse_switch