RT0008 - Робот на Arduino Uno

#include <IRremote.h>
#include <Servo.h>
#include <Wire.h>
#include <LiquidCrystal_I2C.h>
int MotorRight1=8;
int MotorRight2=9;
int MotorLeft1=7;
int MotorLeft2=6;
int counter=0;

const int irReceiverPin = 2;
long IRfront=0x00FF629D; //Forward code
long IRback=0x00FFA857; //Backward
long IRturnright=0x00FFC23D;//Right
long IRturnleft=0x00FF22DD; //Left
long IRstop=0x00FF02FD; //Stop
long IRAutorun=0x00FF6897; //Ultrasonic Self-propelled mode
long IRturnsmallleft=0x00FFB04F;
IRrecv irrecv(irReceiverPin); // Define IRrecv thing receive IR signal
decode_results results;
int inputPin =A0; // define ultrasonic receive pin rx
int outputPin =A1; // define ultrasonic transmit pin tx
int Fspeedd = 0; // Front distance
int Rspeedd = 0; // right distance
int Lspeedd = 0; // left distance
int directionn = 0; // front=8 back=2 left=4 right=6
Servo myservo; // define myservo
int delay_time = 250; // servo turn back steady time
int Fgo = 8; // forward
int Rgo = 6; // right
int Lgo = 4; // left
int Bgo = 2; // backward

LiquidCrystal_I2C lcd(0x27,16,2);
void setup()
{
Serial.begin(9600);
pinMode(MotorRight1, OUTPUT); // pin8 (PWM)
pinMode(MotorRight2, OUTPUT); // pin9 (PWM)
pinMode(MotorLeft1, OUTPUT); //pin10 (PWM)
pinMode(MotorLeft2, OUTPUT); // pin11 (PWM)
irrecv.enableIRIn(); // Start infrared decoding
digitalWrite(3,HIGH);
pinMode(inputPin, INPUT); // define ultrasonic input foot
pinMode(outputPin, OUTPUT); // define ultrasonic output foot
myservo.attach(5); // define servo output to pin 5(PWM)
lcd.init(); // initialize the lcd
lcd.init();
lcd.backlight();
lcd.setCursor(0,0);
lcd.print(«I'm CRAZY ROBOT»);
lcd.setCursor(0,1);
lcd.print(«Kill All Humans!»);
}
void advance(int a) // Forward
{
digitalWrite(MotorRight1,LOW);
digitalWrite(MotorRight2,HIGH);
digitalWrite(MotorLeft1,LOW);
digitalWrite(MotorLeft2,HIGH);
delay(a * 100);
}
void right(int b) //right(Single wheel )
{
digitalWrite(MotorLeft1,LOW);
digitalWrite(MotorLeft2,HIGH);
digitalWrite(MotorRight1,LOW);
digitalWrite(MotorRight2,LOW);
delay(b * 50);
}
void left(int c) //left (Single wheel)
{
digitalWrite(MotorRight1,LOW);
digitalWrite(MotorRight2,HIGH);
digitalWrite(MotorLeft1,LOW);
digitalWrite(MotorLeft2,LOW);
delay(c * 50);
}
void turnR(int d) //right(double wheel)
{
digitalWrite(MotorRight1,HIGH);
digitalWrite(MotorRight2,LOW);
digitalWrite(MotorLeft1,LOW);
digitalWrite(MotorLeft2,HIGH);
delay(d * 100);
}
void turnL(int e) //left(double wheel)
{
digitalWrite(MotorRight1,LOW);
digitalWrite(MotorRight2,HIGH);
digitalWrite(MotorLeft1,HIGH);
digitalWrite(MotorLeft2,LOW);
delay(e * 100);
}
void stopp(int f) //stop
{
digitalWrite(MotorRight1,LOW);
digitalWrite(MotorRight2,LOW);
digitalWrite(MotorLeft1,LOW);
digitalWrite(MotorLeft2,LOW);
delay(f * 100);
}
void back(int g) //backward
{
digitalWrite(MotorRight1,HIGH);
digitalWrite(MotorRight2,LOW);
digitalWrite(MotorLeft1,HIGH);
digitalWrite(MotorLeft2,LOW);;
delay(g * 100);
}
void detection() //Measuring three angles (front,left,right)
{
int delay_time = 350; // servo turn back steady time
ask_pin_F(); // read forward distance
if(Fspeedd < 10) // If the forward distance is less than 10 cm
{
stopp(1); // Clear Output Data
directionn = Bgo; // backward 0.2 s

}
if(Fspeedd < 25) // If the forward distance is less than 25 cm
{
stopp(1); // Clear Output Data
ask_pin_L(); // read left distance
delay(delay_time); // wait servo steady
ask_pin_R(); // read right distance
delay(delay_time); // wait servo steady
if(Lspeedd > Rspeedd) //If left distance is more than right distance
{
directionn = Lgo; //Turn left
}
if(Lspeedd <= Rspeedd) //If left distance is less than or equal to right distance
{
directionn = Rgo; //Turn right
}
if (Lspeedd < 15 && Rspeedd < 15) //If left distance and right distance are less than 10cm
{
directionn = Bgo; //turn back
}
}
else //If front distance is more than 25cm
{
directionn = Fgo; //forward
}
}
void ask_pin_F() // measure front distance
{
myservo.write(96);
digitalWrite(outputPin, LOW); // Let ultrasonic transmitting low voltage 2us
delayMicroseconds(2);
digitalWrite(outputPin, HIGH); // Let ultrasonic transmitting high voltage 10us,here must at least 10us
delayMicroseconds(10);
digitalWrite(outputPin, LOW); // keep ultrasonic transmitting low voltage
float Fdistance = pulseIn(inputPin, HIGH); // read time difference
Fdistance= Fdistance/5.8/10; // transfer time into distance(unit:cm)
Fspeedd = Fdistance; // read distance into Fspeedd(front speed)
}
void ask_pin_L() // measure left distance
{
myservo.write(170);
delay(delay_time);
digitalWrite(outputPin, LOW); // Let ultrasonic transmitting low voltage 2us
delayMicroseconds(2);
digitalWrite(outputPin, HIGH); // Let ultrasonic transmitting high voltage 10us,here must at least 10us
delayMicroseconds(10);
digitalWrite(outputPin, LOW); // keep ultrasonic transmitting low voltage
float Ldistance = pulseIn(inputPin, HIGH); // read time difference
Ldistance= Ldistance/5.8/10; // transfer time into distance(unit:cm)
Lspeedd = Ldistance; // read distance into Lspeedd(left speed)
}
void ask_pin_R() // measure right distance
{
myservo.write(30);
delay(delay_time);
digitalWrite(outputPin, LOW); // Let ultrasonic transmitting low voltage 2us
delayMicroseconds(2);
digitalWrite(outputPin, HIGH); // Let ultrasonic transmitting high voltage 10us,here must at least 10us
delayMicroseconds(10);
digitalWrite(outputPin, LOW); // keep ultrasonic transmitting low voltage
float Rdistance = pulseIn(inputPin, HIGH); // read time difference
Rdistance= Rdistance/5.8/10; // transfer time into distance(unit:cm)
Rspeedd = Rdistance; // read distance into Rspeedd(right speed)
}
void loop()
{
if (irrecv.decode(&results))
{
if (results.value == IRfront)//forward
{
lcd.clear();
lcd.setCursor(0,0);
lcd.print(«IR mode»);
lcd.setCursor(0,1);
lcd.print(«advance»);
advance(20);
}
if (results.value == IRback)//backward
{
lcd.clear();
lcd.setCursor(0,0);
lcd.print(«IR mode»);
lcd.setCursor(0,1);
lcd.print(«back»);
back(20);//backward
}
if (results.value == IRturnright)//turn right
{
lcd.clear();
lcd.setCursor(0,0);
lcd.print(«IR mode»);
lcd.setCursor(0,1);
lcd.print(«right»);
right(10); // turn right
}
if (results.value == IRturnleft)//turn left
{
lcd.clear();
lcd.setCursor(0,0);
lcd.print(«IR mode»);
lcd.setCursor(0,1);
lcd.print(«left»);
left(10); // turn left
}
if (results.value == IRstop)//stop
{
lcd.clear();
lcd.setCursor(0,0);
lcd.print(«IR mode»);
lcd.setCursor(0,1);
lcd.print(«stop»);
digitalWrite(MotorRight1,LOW);
digitalWrite(MotorRight2,LOW);
digitalWrite(MotorLeft1,LOW);
digitalWrite(MotorLeft2,LOW);
}
if (results.value ==IRAutorun )
{
while(IRAutorun)
{
myservo.write(90); //Let servo motor return, ready for the next measurement
detection(); //To measure the angle and determine which direction to move
if(directionn == 8)
{
if (irrecv.decode(&results))
{
irrecv.resume();
Serial.println(results.value,HEX);
if(results.value ==IRstop)
{
digitalWrite(MotorRight1,LOW);
digitalWrite(MotorRight2,LOW);
digitalWrite(MotorLeft1,LOW);
digitalWrite(MotorLeft2,LOW);
break;
}
}
results.value=0;
lcd.clear();
lcd.setCursor(0,0);
lcd.print(«auto mode»);
lcd.setCursor(0,1);
lcd.print(«Advance»);
advance(1); // normal forward
}
if(directionn == 2) //If directionn(direction) = 2(backward)
{
if (irrecv.decode(&results))
{
irrecv.resume();
Serial.println(results.value,HEX);
if(results.value ==IRstop)
{
digitalWrite(MotorRight1,LOW);
digitalWrite(MotorRight2,LOW);
digitalWrite(MotorLeft1,LOW);
digitalWrite(MotorLeft2,LOW);
break;
}
}
results.value=0;
lcd.clear();
lcd.setCursor(0,0);
lcd.print(«auto mode»);
lcd.setCursor(0,1);
lcd.print(«Reverse»);
back(8); // backward
turnL(2); //Move slightly to the left side, to prevent the dead alley
}
if(directionn == 6) //If directionn(direction) = 6(turn right)
{
if (irrecv.decode(&results))
{
irrecv.resume();
Serial.println(results.value,HEX);
if(results.value ==IRstop)
{
digitalWrite(MotorRight1,LOW);
digitalWrite(MotorRight2,LOW);
digitalWrite(MotorLeft1,LOW);
digitalWrite(MotorLeft2,LOW);
break;
}
}
results.value=0;
lcd.clear();
lcd.setCursor(0,0);
lcd.print(«auto mode»);
lcd.setCursor(0,1);
lcd.print(«Right»);
back(1);
turnR(3); // turn rirht
}
if(directionn == 4) //directionn(direction) = 4(turn left)
{
if (irrecv.decode(&results))
{
irrecv.resume();
Serial.println(results.value,HEX);
if(results.value ==IRstop)
{
digitalWrite(MotorRight1,LOW);
digitalWrite(MotorRight2,LOW);
digitalWrite(MotorLeft1,LOW);
digitalWrite(MotorLeft2,LOW);

break;
}
}
results.value=0;
lcd.clear();
lcd.setCursor(0,0);
lcd.print(«auto mode»);
lcd.setCursor(0,1);
lcd.print(«Left»);
back(1);
turnL(3); // turn left
}
if (irrecv.decode(&results))
{
irrecv.resume();
Serial.println(results.value,HEX);
if(results.value ==IRstop)
{
digitalWrite(MotorRight1,LOW);
digitalWrite(MotorRight2,LOW);
digitalWrite(MotorLeft1,LOW);
digitalWrite(MotorLeft2,LOW);
break;
}
}
}
results.value=0;
}
else
{
digitalWrite(MotorRight1,LOW);
digitalWrite(MotorRight2,LOW);
digitalWrite(MotorLeft1,LOW);
digitalWrite(MotorLeft2,LOW);
}
irrecv.resume(); // Continue to receive the next set of infrared signals
}
}