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Copy pathArduino圓形自走車.ino
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Arduino圓形自走車.ino
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#include <IRremote.h>
#define MotorA_I1 8
#define MotorA_I2 9
#define MotorB_I3 10
#define MotorB_I4 11
#define MotorA_PWMA 5
#define MotorB_PWMB 6
IRrecv irrecv(2);
decode_results results;
void setup() {
Serial.begin(9600);
irrecv.enableIRIn(); // Start the receiver
Serial.println("Enabled IRin");
pinMode(MotorA_I1, OUTPUT);
pinMode(MotorA_I2, OUTPUT);
pinMode(MotorB_I3, OUTPUT);
pinMode(MotorB_I4, OUTPUT);
pinMode(MotorA_PWMA, OUTPUT);
pinMode(MotorB_PWMB, OUTPUT);
analogWrite(MotorA_PWMA, 200);
analogWrite(MotorB_PWMB, 200);
digitalWrite(MotorA_I1, LOW);
digitalWrite(MotorA_I2, LOW);
digitalWrite(MotorB_I3, LOW);
digitalWrite(MotorB_I4, LOW);
}
int laststate = 0;
void loop() {
if (irrecv.decode(&results)) {
if (results.value == 4294967295 && laststate == 16736925) {
digitalWrite(MotorA_I1, LOW);
digitalWrite(MotorA_I2, HIGH);
digitalWrite(MotorB_I3, HIGH);
digitalWrite(MotorB_I4, LOW);
irrecv.resume();
}
if (results.value == 4294967295 && laststate == 16754775) {
digitalWrite(MotorA_I1, HIGH);
digitalWrite(MotorA_I2, LOW);
digitalWrite(MotorB_I3, LOW);
digitalWrite(MotorB_I4, HIGH);
irrecv.resume();
}
if (results.value == 4294967295 && laststate == 16720605) {
digitalWrite(MotorA_I1, LOW);
digitalWrite(MotorA_I2, HIGH);
digitalWrite(MotorB_I3, LOW);
digitalWrite(MotorB_I4, HIGH);
irrecv.resume();
}
if (results.value == 4294967295 && laststate == 16761405) {
digitalWrite(MotorA_I1, HIGH);
digitalWrite(MotorA_I2, LOW);
digitalWrite(MotorB_I3, HIGH);
digitalWrite(MotorB_I4, LOW);
irrecv.resume();
}
if (results.value == 16736925) {
digitalWrite(MotorA_I1, LOW);
digitalWrite(MotorA_I2, HIGH);
digitalWrite(MotorB_I3, HIGH);
digitalWrite(MotorB_I4, LOW);
laststate = 16736925;
}
if (results.value == 16754775) {
digitalWrite(MotorA_I1, HIGH);
digitalWrite(MotorA_I2, LOW);
digitalWrite(MotorB_I3, LOW);
digitalWrite(MotorB_I4, HIGH);
laststate = 16754775;
}
if (results.value == 16720605) {
digitalWrite(MotorA_I1, LOW);
digitalWrite(MotorA_I2, HIGH);
digitalWrite(MotorB_I3, LOW);
digitalWrite(MotorB_I4, HIGH);
laststate = 16754775;
}
if (results.value == 16761405) {
digitalWrite(MotorA_I1, HIGH);
digitalWrite(MotorA_I2, LOW);
digitalWrite(MotorB_I3, HIGH);
digitalWrite(MotorB_I4, LOW);
laststate = 16754775;
}
if (results.value == 16712445) { //OK
digitalWrite(MotorA_I1, LOW);
digitalWrite(MotorA_I2, LOW);
digitalWrite(MotorB_I3, LOW);
digitalWrite(MotorB_I4, LOW);
laststate = 16712445;
}
irrecv.resume();
} else {
digitalWrite(MotorA_I1, LOW);
digitalWrite(MotorA_I2, LOW);
digitalWrite(MotorB_I3, LOW);
digitalWrite(MotorB_I4, LOW);
}
delay(150);
}