RobotRemoteControl

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1/* 08 Remote Control
2
3 If you connect a IR receiver to the robot,
4
5 you can control it like a RC car.
6
7 Using the remote control comes with sensor
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9 pack, You can make the robot move around
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11 without even touching it!
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13 Circuit:
14
15 * Arduino Robot
16
17 * Connect the IRreceiver to D2
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19 * Remote control from Robot sensor pack
20
21 based on the IRremote library
22
23 by Ken Shirriff
24
25 http://arcfn.com
26
27 created 1 May 2013
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29 by X. Yang
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31 modified 12 May 2013
32
33 by D. Cuartielles
34
35 This example is in the public domain
36
37 */
38
39// include the necessary libraries
40#include <RobotIRremote.h>
41#include <RobotIRremoteTools.h>
42#include <ArduinoRobot.h>
43#include <Wire.h>
44
45// Define a few commands from your remote control
46#define IR_CODE_FORWARD 284154405
47#define IR_CODE_BACKWARDS 284113605
48#define IR_CODE_TURN_LEFT 284129925
49#define IR_CODE_TURN_RIGHT 284127885
50#define IR_CODE_CONTINUE -1
51
52bool isActing = false; //If the robot is executing command from remote
53long timer;
54
55const long TIME_OUT = 150;
56
57void setup() {
58
59  // initialize the Robot, SD card, display, and speaker
60
61  Serial.begin(9600);
62
63  Robot.begin();
64
65  Robot.beginTFT();
66
67  Robot.beginSD();
68
69  // print some text to the screen
70
71  beginIRremote(); // Start the receiver
72}
73
74void loop() {
75
76  // if there is an IR command, process it
77
78  if (IRrecived()) {
79
80    processResult();
81
82    resumeIRremote(); // resume receiver
83
84  }
85
86  //If the robot does not receive any command, stop it
87
88  if (isActing && (millis() - timer >= TIME_OUT)) {
89
90    Robot.motorsStop();
91
92    isActing = false;
93
94  }
95}
96void processResult() {
97
98  unsigned long res = getIRresult();
99
100  switch (res) {
101
102    case IR_CODE_FORWARD:
103
104      changeAction(1, 1); //Move the robot forward
105
106      break;
107
108    case IR_CODE_BACKWARDS:
109
110      changeAction(-1, -1); //Move the robot backwards
111
112      break;
113
114    case IR_CODE_TURN_LEFT:
115
116      changeAction(-0.5, 0.5); //Turn the robot left
117
118      break;
119
120    case IR_CODE_TURN_RIGHT:
121
122      changeAction(0.5, -0.5); //Turn the robot Right
123
124      break;
125
126    case IR_CODE_CONTINUE:
127
128      timer = millis(); //Continue the last action, reset timer
129
130      break;
131
132  }
133}
134void changeAction(float directionLeft, float directionRight) {
135
136  Robot.motorsWrite(255 * directionLeft, 255 * directionRight);
137
138  timer = millis();
139
140  isActing = true;
141}