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#include <IRremote.h>//包含紅外庫
int RECV_PIN = A4;//端口聲明
IRrecv irrecv(RECV_PIN);
decode_results results;//結構聲明
int on = 0;//標志位
unsigned long last = millis();
long run_car = 0x00FF18E7;//按鍵2
long back_car = 0x00FF4AB5;//按鍵8
long left_car = 0x00FF10EF;//按鍵4
long right_car = 0x00FF5AA5;//按鍵6
long stop_car = 0x00FF38C7;//按鍵5
long left_turn = 0x00ff30CF;//按鍵1
long right_turn = 0x00FF7A85;//按鍵3
//==============================
int Left_motor_back=8; //左電機后退(IN1)
int Left_motor_go=9; //左電機前進(IN2)
int Right_motor_go=10; // 右電機前進(IN3)
int Right_motor_back=11; // 右電機后退(IN4)
int led1=13;
int led2=12;
void setup()
{
//初始化電機驅動IO為輸出方式
pinMode(led1,OUTPUT);
pinMode(led2,OUTPUT);
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，輸出
Serial.begin(9600); //波特率9600
irrecv.enableIRIn(); // Start the receiver
}
void run() // 前進
{
digitalWrite(Right_motor_go,HIGH); // 右電機前進
digitalWrite(Right_motor_back,LOW);
//analogWrite(Right_motor_go,200);//PWM比例0~255調速，左右輪差異略增減
//analogWrite(Right_motor_back,0);
digitalWrite(Left_motor_go,HIGH); // 左電機前進
digitalWrite(Left_motor_back,LOW);
//analogWrite(Left_motor_go,200);//PWM比例0~255調速，左右輪差異略增減
//analogWrite(Left_motor_back,0);
//delay(time * 100); //執行時間，可以調整
}
void brake() //剎車，停車
{ digitalWrite(led1,HIGH);
digitalWrite(led2,HIGH);
delay(1000);
digitalWrite(led1,LOW);
digitalWrite(led2,LOW);
digitalWrite(Right_motor_go,LOW);
digitalWrite(Right_motor_back,LOW);
digitalWrite(Left_motor_go,LOW);
digitalWrite(Left_motor_back,LOW);
//delay(time * 100);//執行時間，可以調整
}
void left() //左轉(左輪不動，右輪前進)
{ digitalWrite(led2,HIGH);
delay(500);
digitalWrite(led2,LOW);
delay(500);
digitalWrite(Right_motor_go,HIGH); // 右電機前進
digitalWrite(Right_motor_back,LOW);
//analogWrite(Right_motor_go,200);
//analogWrite(Right_motor_back,0);//PWM比例0~255調速
digitalWrite(Left_motor_go,LOW); //左輪不動
digitalWrite(Left_motor_back,LOW);
//analogWrite(Left_motor_go,0);
//analogWrite(Left_motor_back,0);//PWM比例0~255調速
//delay(time * 100); //執行時間，可以調整
}
void spin_left() //左轉(左輪后退，右輪前進)
{
digitalWrite(Right_motor_go,HIGH); // 右電機前進
digitalWrite(Right_motor_back,LOW);
//analogWrite(Right_motor_go,200);
//analogWrite(Right_motor_back,0);//PWM比例0~255調速
digitalWrite(Left_motor_go,LOW); //左輪后退
digitalWrite(Left_motor_back,HIGH);
//analogWrite(Left_motor_go,0);
//analogWrite(Left_motor_back,200);//PWM比例0~255調速
//delay(time * 100); //執行時間，可以調整
}
void right() //右轉(右輪不動，左輪前進)
{ digitalWrite(led1,HIGH);
delay(500);
digitalWrite(led1,LOW);
digitalWrite(Right_motor_go,LOW); //右電機不動
digitalWrite(Right_motor_back,LOW);
//analogWrite(Right_motor_go,0);
//analogWrite(Right_motor_back,0);//PWM比例0~255調速
digitalWrite(Left_motor_go,HIGH);//左電機前進
digitalWrite(Left_motor_back,LOW);
//analogWrite(Left_motor_go,200);
//analogWrite(Left_motor_back,0);//PWM比例0~255調速
//delay(time * 100); //執行時間，可以調整
}
void spin_right() //右轉(右輪后退，左輪前進)
{
digitalWrite(Right_motor_go,LOW); //右電機后退
digitalWrite(Right_motor_back,HIGH);
//analogWrite(Right_motor_go,0);
//analogWrite(Right_motor_back,200);//PWM比例0~255調速
digitalWrite(Left_motor_go,HIGH);//左電機前進
digitalWrite(Left_motor_back,LOW);
//analogWrite(Left_motor_go,200);
//analogWrite(Left_motor_back,0);//PWM比例0~255調速
//delay(time * 100); //執行時間，可以調整
}
void back() //后退
{ digitalWrite(led1,HIGH);
digitalWrite(led2,HIGH);
delay(100);
digitalWrite(led1,LOW);
digitalWrite(led2,LOW);
delay(100);
digitalWrite(Right_motor_go,LOW); //右輪后退
digitalWrite(Right_motor_back,HIGH);
//analogWrite(Right_motor_go,0);
//analogWrite(Right_motor_back,150);//PWM比例0~255調速
digitalWrite(Left_motor_go,LOW); //左輪后退
digitalWrite(Left_motor_back,HIGH);
//analogWrite(Left_motor_go,0);
//analogWrite(Left_motor_back,150);//PWM比例0~255調速
//delay(time * 100); //執行時間，可以調整
}
void dump(decode_results *results)
{
int count = results->rawlen;
if (results->decode_type == UNKNOWN)
{
//Serial.println("Could not decode message");
brake();
}
}
void loop()
{
if (irrecv.decode(&results)) //調用庫函數：解碼
{
// If it's been at least 1/4 second since the last
// IR received, toggle the relay
if (millis() - last > 250) //確定接收到信號
{
on = !on;//標志位置反
digitalWrite(13, on ? HIGH : LOW);//板子上接收到信號閃爍一下led
dump(&results);//解碼紅外信號
}
if (results.value == run_car )//按鍵2
{digitalWrite(led1,HIGH);
digitalWrite(led2,HIGH);delay(500);run();}//前進
if (results.value == back_car )//按鍵8
{back();digitalWrite(led1,HIGH);digitalWrite(led2,HIGH);}//后退
if (results.value == left_car )//按鍵4
{left();digitalWrite(led1,HIGH);digitalWrite(led2,LOW);}//左轉
if (results.value == right_car )//按鍵6
{digitalWrite(led1,LOW);digitalWrite(led2,HIGH); right();}//右轉
if (results.value == stop_car )//按鍵5
{ brake();digitalWrite(led1,LOW);digitalWrite(led2,LOW);}//停車
if (results.value == left_turn )//按鍵1
{spin_left();digitalWrite(led1,HIGH);digitalWrite(led2,LOW);}//左旋轉
if (results.value == right_turn )//按鍵3
{digitalWrite(led1,LOW);digitalWrite(led2,HIGH); spin_right();}//右旋轉
last = millis();
irrecv.resume(); // Receive the next value
}
}

復制代碼

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