Дистанционное управление роботом. Ардуино. Эвольвектор

#include <IRremote.h>
int RECV_PIN = 11;
int BUTTON_PIN = 12;
int STATUS_PIN = 13;
IRrecv irrecv(RECV_PIN);
IRsend irsend;
decode_results results;
void setup()
{
Serial.begin(9600);
irrecv.enableIRIn(); // Start the receiver
pinMode(BUTTON_PIN, INPUT);
pinMode(STATUS_PIN, OUTPUT);
}
// Storage for the recorded code
int codeType = -1; // The type of code
unsigned long codeValue; // The code value if not raw
unsigned int rawCodes[RAWBUF]; // The durations if raw
int codeLen; // The length of the code
int toggle = 0; // The RC5/6 toggle state
// Stores the code for later playback
// Most of this code is just logging
void storeCode(decode_results *results) {
codeType = results->decode_type;
int count = results->rawlen;
if (codeType == UNKNOWN) {
Serial.println("Received unknown code, saving as raw");
codeLen = results->rawlen - 1;
// To store raw codes:
// Drop first value (gap)
// Convert from ticks to microseconds
// Tweak marks shorter, and spaces longer to cancel out IR receiver distortion
for (int i = 1; i <= codeLen; i++) {
if (i % 2) {
// Mark
rawCodes[i - 1] = results->rawbuf[i]*USECPERTICK - MARK_EXCESS;
Serial.print(" m");
}
else {
// Space
rawCodes[i - 1] = results->rawbuf[i]*USECPERTICK + MARK_EXCESS;
Serial.print(" s");
}
Serial.print(rawCodes[i - 1], DEC);
}
Serial.println("");
}
else {
if (codeType == NEC) {
Serial.print("Received NEC: ");
if (results->value == REPEAT) {
// Don't record a NEC repeat value as that's useless.
Serial.println("repeat; ignoring.");
return;
}
}
else if (codeType == SONY) {
Serial.print("Received SONY: ");
}
else if (codeType == RC5) {
Serial.print("Received RC5: ");
}
else if (codeType == RC6) {
Serial.print("Received RC6: ");
}
else {
Serial.print("Unexpected codeType ");
Serial.print(codeType, DEC);
Serial.println("");
}
Serial.println(results->value, HEX);
codeValue = results->value;
codeLen = results->bits;
}
}
void sendCode(int repeat) {
if (codeType == NEC) {
if (repeat) {
irsend.sendNEC(REPEAT, codeLen);
Serial.println("Sent NEC repeat");
}
else {
irsend.sendNEC(codeValue, codeLen);
Serial.print("Sent NEC ");
Serial.println(codeValue, HEX);
}
}
else if (codeType == SONY) {
irsend.sendSony(codeValue, codeLen);
Serial.print("Sent Sony ");
Serial.println(codeValue, HEX);
}
else if (codeType == RC5 || codeType == RC6) {
if (!repeat) {
// Flip the toggle bit for a new button press
toggle = 1 - toggle;
}
// Put the toggle bit into the code to send
codeValue = codeValue & ~(1 << (codeLen - 1));
codeValue = codeValue | (toggle << (codeLen - 1));
if (codeType == RC5) {
Serial.print("Sent RC5 ");
Serial.println(codeValue, HEX);
irsend.sendRC5(codeValue, codeLen);
}
else {
irsend.sendRC6(codeValue, codeLen);
Serial.print("Sent RC6 ");
Serial.println(codeValue, HEX);
}
}
else if (codeType == UNKNOWN /* i.e. raw */) {
// Assume 38 KHz
irsend.sendRaw(rawCodes, codeLen, 38);
Serial.println("Sent raw");
}
}
int lastButtonState;
void loop() {
// If button pressed, send the code.
int buttonState = digitalRead(BUTTON_PIN);
if (lastButtonState == HIGH && buttonState == LOW) {
Serial.println("Released");
irrecv.enableIRIn(); // Re-enable receiver
}
if (buttonState) {
Serial.println("Pressed, sending");
digitalWrite(STATUS_PIN, HIGH);
sendCode(lastButtonState == buttonState);
digitalWrite(STATUS_PIN, LOW);
delay(50); // Wait a bit between retransmissions
}
else if (irrecv.decode(&results)) {
digitalWrite(STATUS_PIN, HIGH);
storeCode(&results);
irrecv.resume(); // resume receiver
digitalWrite(STATUS_PIN, LOW);
}
lastButtonState = buttonState;
}