#include <IRremote.h> //包含红外库 关键点
int RECV_PIN = A4; //端口声明
IRrecv irrecv(RECV_PIN);
decode_results results; //结构声明
int on = 0; //标志位
unsigned long last = millis();
long run_car = 0x00FF629D; //按键CH
long back_car = 0x00FFA857; //按键+
long left_car = 0x00FF22DD; //按键<<
long right_car = 0x00FFC23D; //按键>||
long stop_car = 0x00FF02FD; //按键>>|
long left_turn = 0x00ffE01F; //按键-
long right_turn = 0x00FF906F; //按键EQ
//==============================
int Left_motor_go = 8; //左电机前进(IN1)
int Left_motor_back = 9; //左电机后退(IN2)
int Right_motor_go = 10; // 右电机前进(IN3)
int Right_motor_back = 11; // 右电机后退(IN4)
void setup() {
//初始化电机驱动IO为输出方式
pinMode(Left_motor_go, OUTPUT); // PIN 8 (PWM)
pinMode(Left_motor_back, OUTPUT); // PIN 9 (PWM)
pinMode(Right_motor_go, OUTPUT); // PIN 10 (PWM)
pinMode(Right_motor_back, OUTPUT); // PIN 11 (PWM)
pinMode(13, OUTPUT); ////端口模式，输出
Serial.begin(9600); //波特率9600
irrecv.enableIRIn(); // Start the receiver
}
void run() // 前进
{
digitalWrite(Right_motor_go, HIGH); // 右电机前进
digitalWrite(Right_motor_back, LOW);
//analogWrite(Right_motor_go,200);//PWM比例0~255调速，左右轮差异略增减
//analogWrite(Right_motor_back,0);
digitalWrite(Left_motor_go, LOW); // 左电机前进
digitalWrite(Left_motor_back, HIGH);
//analogWrite(Left_motor_go,0);//PWM比例0~255调速，左右轮差异略增减
//analogWrite(Left_motor_back,200);
//delay(time * 100); //执行时间，可以调整
}
void brake() //刹车，停车
{
digitalWrite(Right_motor_go, LOW);
digitalWrite(Right_motor_back, LOW);
digitalWrite(Left_motor_go, LOW);
digitalWrite(Left_motor_back, LOW);
//delay(time * 100);//执行时间，可以调整
}
void left() //左转(左轮不动，右轮前进)
{
digitalWrite(Right_motor_go, HIGH); // 右电机前进
digitalWrite(Right_motor_back, LOW);
//analogWrite(Right_motor_go,200);
//analogWrite(Right_motor_back,0);//PWM比例0~255调速
digitalWrite(Left_motor_go, LOW); //左轮后退
digitalWrite(Left_motor_back, LOW);
//analogWrite(Left_motor_go,0);
//analogWrite(Left_motor_back,0);//PWM比例0~255调速
//delay(time * 100); //执行时间，可以调整
}
void spin_left() //左转(左轮后退，右轮前进)
{
digitalWrite(Right_motor_go, HIGH); // 右电机前进
digitalWrite(Right_motor_back, LOW);
//analogWrite(Right_motor_go,200);
//analogWrite(Right_motor_back,0);//PWM比例0~255调速
digitalWrite(Left_motor_go, HIGH); //左轮后退
digitalWrite(Left_motor_back, LOW);
//analogWrite(Left_motor_go,200);
//analogWrite(Left_motor_back,0);//PWM比例0~255调速
//delay(time * 100); //执行时间，可以调整
}
void right() //右转(右轮不动，左轮前进)
{
digitalWrite(Right_motor_go, LOW); //右电机后退
digitalWrite(Right_motor_back, LOW);
//analogWrite(Right_motor_go,0);
//analogWrite(Right_motor_back,0);//PWM比例0~255调速
digitalWrite(Left_motor_go, LOW); //左电机前进
digitalWrite(Left_motor_back, HIGH);
//analogWrite(Left_motor_go,0);
// analogWrite(Left_motor_back,200);//PWM比例0~255调速
// delay(time * 100); //执行时间，可以调整
}
void spin_right() //右转(右轮后退，左轮前进)
{
digitalWrite(Right_motor_go, LOW); //右电机后退
digitalWrite(Right_motor_back, HIGH);
//analogWrite(Right_motor_go,0);
//analogWrite(Right_motor_back,200);//PWM比例0~255调速
digitalWrite(Left_motor_go, LOW); //左电机前进
digitalWrite(Left_motor_back, HIGH);
//analogWrite(Left_motor_go,0);
//analogWrite(Left_motor_back,200);//PWM比例0~255调速
//delay(time * 100); //执行时间，可以调整
}
void back() //后退
{
digitalWrite(Right_motor_go, LOW); //右轮后退
digitalWrite(Right_motor_back, HIGH);
//analogWrite(Right_motor_go,0);
//analogWrite(Right_motor_back,150);//PWM比例0~255调速
digitalWrite(Left_motor_go, HIGH); //左轮后退
digitalWrite(Left_motor_back, LOW);
//analogWrite(Left_motor_go,150);
//analogWrite(Left_motor_back,0);//PWM比例0~255调速
//delay(time * 100); //执行时间，可以调整
}
void dump(decode_results *results) {
int count = results->rawlen;
if (results->decode_type == UNKNOWN) {
//Serial.println("Could not decode message");
brake();
}
//串口打印，调试时可以打开，实际运行中会影响反应速度，建议屏蔽
/*
else
{
if (results->decode_type == NEC)
{
Serial.print("Decoded NEC: ");
}
else if (results->decode_type == SONY)
{
Serial.print("Decoded SONY: ");
}
else if (results->decode_type == RC5)
{
Serial.print("Decoded RC5: ");
}
else if (results->decode_type == RC6)
{
Serial.print("Decoded RC6: ");
}
Serial.print(results->value, HEX);
Serial.print(" (");
Serial.print(results->bits, DEC);
Serial.println(" bits)");
}
Serial.print("Raw (");
Serial.print(count, DEC);
Serial.print("): ");
for (int i = 0; i < count; i++)
{
if ((i % 2) == 1)
{
Serial.print(results->rawbuf[i]*USECPERTICK, DEC);
}
else
{
Serial.print(-(int)results->rawbuf[i]*USECPERTICK, DEC);
}
Serial.print(" ");
}
Serial.println("");
*/
}
void loop() {
if (irrecv.decode(&results)) //调用库函数：解码
{
// If it's been at least 1/4 second since the last
// IR received, toggle the relay
if (millis() - last > 250) //确定接收到信号
{
on = !on; //标志位置反
digitalWrite(13, on ? HIGH : LOW); //板子上接收到信号闪烁一下led
dump(&results); //解码红外信号
}
if (results.value == run_car) //按键CH
run(); //前进
if (results.value == back_car) //按键+
back(); //后退
if (results.value == left_car) //按键<<
left(); //左转
if (results.value == right_car) //按键>||
right(); //右转
if (results.value == stop_car) //按键>>|
brake(); //停车
if (results.value == left_turn) //按键-
spin_left(); //左旋转
if (results.value == right_turn) //按键EQ
spin_right(); //右旋转
last = millis();
irrecv.resume(); // Receive the next value
}
}