RhinoBeetleRemote

From BloomingLabs

Here's some code that adds remote-control capability to the Tamiya Rhino Beetle. Uses Arduino, Motor shield, and an I/R receiver from Radio Shack.

/*
Rhino Beetle!
20-3-2011 SDC

motors 3 and 4 3 is left (red, white)
4 is right (blue, yellow)

other pins - analog 0-5 are available.

analog is across analog 0,1,2 (vcc, gnd, signal)

have to use 3 and 4 b/c IR thing interferes w/ timer/pwm for 1 and 2 on the shield

 */
#include <AFMotor.h>
#include <IRremote.h>

int RECV_PIN = 16; // aka analog 2 11;
// using motor 3 and 4, I think otherwise IR code interferes.
AF_DCMotor motor2(4, MOTOR12_2KHZ); // create motor #2, 2KHz pwm can do 64,8,2,1
AF_DCMotor motor1(3, MOTOR12_2KHZ);
IRrecv irrecv(RECV_PIN);
decode_results results;

/*

the apple remote codes!
plus (fwd): 77E15064
minus (bkwd): 77E13064
play (stop): 77E1A064
rew (left): 77E19064
ffwd (right): 77E16064
*/

const long FORWARD_STATE =  0x77E15064;
const long BACKWARD_STATE = 0x77E13064;
const long STOP_STATE =  0x77E1A064;
const long LEFT_STATE = 0x77E19064;
const long RIGHT_STATE = 0x77E16064;
const long IGNORE_CODE = 0xFFFFFFFF;


long current_state = STOP_STATE;

void setup()
{
  // send a 1 to the vcc, 0 to ground
  pinMode(14, OUTPUT);
  digitalWrite(14,HIGH);
  pinMode(15, OUTPUT);
  digitalWrite(15,LOW);
  Serial.begin(9600);
  irrecv.enableIRIn(); // Start the receiver
  // might want below to be faster or varying
  motor1.setSpeed(255);     // set the speed to 200/255 // this is pretty slow w/ the beetle thingy
  motor2.setSpeed(255);
  //robot_forward();
  Serial.println("it's time to goooooo....");
  delay(2000);
}

void robot_forward() {
  motor1.run(BACKWARD);
  motor2.run(BACKWARD); 
}

void robot_backward() {
  motor1.run(FORWARD);
  motor2.run(FORWARD);   
}

void robot_left() {
  motor1.run(FORWARD);
  motor2.run(BACKWARD); 
}

void robot_right() {
  motor1.run(BACKWARD);
  motor2.run(FORWARD);
}

void robot_stop() {
    motor1.run(RELEASE);
    motor2.run(RELEASE); 
}

void loop() {
  if (irrecv.decode(&results)) {
    Serial.println(results.value, HEX);
    if ((results.value != IGNORE_CODE) && (results.value != current_state)) {
      switch(results.value) {
        case FORWARD_STATE:
          Serial.println("go forward!");
          robot_forward();
          break;
        case BACKWARD_STATE:
          Serial.println("go back!");
          robot_backward();
          break;
        case LEFT_STATE:
          Serial.println("go left!");
          robot_left();
          break;
        case RIGHT_STATE:
         Serial.println("go right!");
         robot_right();
         break;
        case STOP_STATE:
         Serial.println("stop dammit!");
         robot_stop();
         break;
      }
      current_state = results.value;
    }
    irrecv.resume(); // Receive the next value
  }
}