New motor-driving with IR, + some other smaller updates

Author: Laaknor

POC/motor-driving-IR/motor-driving/motor-driving.ino

@@ -0,0 +1,212 @@
+// Yu Hin Hau
+// Robotic Car via H-Bridge (L298)
+// June 5, 2012
+// Modified for infrared by: Lars Age Kamfjord github.com/laaknor
+
+#include <IRremote.h> 
+
+const int irPin = 3; 
+
+IRrecv irrecv (irPin);
+decode_results results;
+
+//Define Pins
+int enableA = 2; // ENA
+int pinA1 = 1; // IN2
+int pinA2 = 0; // IN1
+ 
+int enableB = 6; // ENB
+int pinB1 = 5; //IN4
+int pinB2 = 4; // IN3
+
+void setup() {
+ 
+ pinMode(enableA, OUTPUT);
+ pinMode(pinA1, OUTPUT);
+ pinMode(pinA2, OUTPUT);
+ 
+ pinMode(enableB, OUTPUT);
+ pinMode(pinB1, OUTPUT);
+ pinMode(pinB2, OUTPUT);
+ irrecv.enableIRIn();
+ Serial.begin(9600);
+ 
+} // End setup
+
+ 
+//command sequence
+void loop() {
+
+  if(irrecv.decode(&results)) {
+    irrecv.resume();
+    if(results.value == 0xFF9867) {
+      Serial.println("Going forward!");
+      enableMotors();
+      forward(1000);
+      disableMotors();
+    } // End if results == FF9867 UP
+    else if(results.value == 0xFF30CF) {
+      Serial.println("Going LEFT");
+      enableMotors();
+      turnLeft(250);
+      disableMotors();
+    } // End if results == FF30CF LEFT
+    else if(results.value == 0xFF18E7) {
+      Serial.println("Going back!");
+      enableMotors();
+      backward(500);
+      disableMotors();
+    } // End if results == FF18E7 BACK
+    else if(results.value == 0xFF7A85) {
+      Serial.println("Going RIGHT!");
+      enableMotors();
+      turnRight(250);
+      disableMotors();
+    } // End if results == FF7A85 RIGHT
+    
+//    else disableMotors();
+  } // end irrecv.decode
+} // End loop
+ 
+//Define Low Level H-Bridge Commands
+ 
+//enable motors
+void motorAOn()
+{
+ digitalWrite(enableA, HIGH);
+ Serial.println("enableA=HIGH");
+}
+ 
+void motorBOn()
+{
+ digitalWrite(enableB, HIGH);
+ Serial.println("enableB=HIGH");
+}
+ 
+ //disable motors
+void motorAOff()
+{
+ digitalWrite(enableA, LOW);
+ Serial.println("enableA=LOW");
+}
+ 
+void motorBOff()
+{
+ digitalWrite(enableB, LOW);
+ Serial.println("enableB=LOW");
+}
+ 
+ //motor A controls
+void motorAForward()
+{
+ digitalWrite(pinA1, HIGH);
+ digitalWrite(pinA2, LOW);
+ Serial.println("Motor A, HIGH-LOW");
+}
+ 
+void motorABackward()
+{
+ digitalWrite(pinA1, LOW);
+ digitalWrite(pinA2, HIGH);
+ Serial.println("Motor A, LOW-HIGH");
+}
+ 
+//motor B contorls
+void motorBForward()
+{
+ digitalWrite(pinB1, HIGH);
+ digitalWrite(pinB2, LOW);
+ Serial.println("Motor B, HIGH-LOW");
+}
+ 
+void motorBBackward()
+{
+ digitalWrite(pinB1, LOW);
+ digitalWrite(pinB2, HIGH);
+ Serial.println("Motor B, LOW-HIGH");
+}
+ 
+//coasting and braking
+void motorACoast()
+{
+ digitalWrite(pinA1, LOW);
+ digitalWrite(pinA2, LOW);
+ Serial.println("Motor A, both LOW");
+}
+ 
+void motorABrake()
+{
+ digitalWrite(pinA1, HIGH);
+ digitalWrite(pinA2, HIGH);
+ Serial.println("Motor A, both HIGH");
+}
+ 
+void motorBCoast()
+{
+ digitalWrite(pinB1, LOW);
+ digitalWrite(pinB2, LOW);
+ Serial.println("Motor B, both LOW");
+}
+ 
+void motorBBrake()
+{
+ digitalWrite(pinB1, HIGH);
+ digitalWrite(pinB2, HIGH);
+ Serial.println("Motor B, both HIGH");
+}
+ 
+//Define High Level Commands
+ 
+void enableMotors()
+{
+ motorAOn();
+ motorBOn();
+}
+ 
+void disableMotors()
+{
+ motorAOff();
+ motorBOff();
+}
+ 
+void forward(int time)
+{
+ motorAForward();
+ motorBForward();
+ delay(time);
+}
+ 
+void backward(int time)
+{
+ motorABackward();
+ motorBBackward();
+ delay(time);
+}
+ 
+void turnLeft(int time)
+{
+ motorABackward();
+ motorBForward();
+ delay(time);
+}
+ 
+void turnRight(int time)
+{
+ motorAForward();
+ motorBBackward();
+ delay(time);
+}
+ 
+void coast(int time)
+{
+ motorACoast();
+ motorBCoast();
+ delay(time);
+}
+ 
+void brake(int time)
+{
+ motorABrake();
+ motorBBrake();
+ delay(time);
+}