Robotica » TribeBots

// TribeBots

// last update: 05.03.2015

// dev.hacklabetrni.org

#include <IRremote.h>

#include <IRremoteInt.h>

/*

 * IRremote: IRrecvDemo - demonstrates receiving IR codes with IRrecv

 * An IR detector/demodulator must be connected to the input RECV_PIN.

 * Version 0.1 July, 2009

 * Copyright 2009 Ken Shirriff

 * http://arcfn.com

 */

int RECV_PIN = 11;

IRrecv irrecv(RECV_PIN);

IRsend irsend;

boolean right;

boolean left;

boolean stopped;

boolean play_1;

boolean play_2;

boolean ch_free; // Canale libero o occupato

unsigned long previousMillis = 0;

unsigned long previousMillis_2 = 0;

const long interval = 8000; // Ogni 8 sec TX  

const long interval_2 = 10000; // Tempo durata stato agitato

// RGB Led Control

const int yellowLEDPin = 9;    // LED connected to digital pin 9

const int redLEDPin = 8;     // LED connected to digital pin 8

const int blueLEDPin = 7; 

decode_results results;

void setup()

{

  //Serial.begin(9600);

  irrecv.enableIRIn(); // Start the receiver

  pinMode(10, OUTPUT); // Motor 2

  pinMode(5, OUTPUT); // Motor 1

  pinMode(13, OUTPUT); //Led (opzionale)

  // pin RGB Led

  pinMode(yellowLEDPin,OUTPUT);

  pinMode(redLEDPin,OUTPUT);

  pinMode(blueLEDPin,OUTPUT);

 ch_free = true;

}

void loop() {

 if (left) {

          analogWrite(5, 100);

          analogWrite(10, 0);

 }

 else if (right) {

          analogWrite(10, 100);

          analogWrite(5, 0);

 }

 else if (stopped) {

          analogWrite(10, 0);

          analogWrite(5, 0);

}

else if (play_1) { //calmo

          analogWrite(10, 50);

          analogWrite(5, 50);

}

else if (play_2) { //agitato

          analogWrite(10, 110);

          analogWrite(5, 110);

}

  unsigned long currentMillis = millis();

  if( (currentMillis - previousMillis >= interval) && ch_free == false) {

        previousMillis = currentMillis; 

        ch_free = true;   

   }

      // Durata di 10 sec. per stato agitato, dopo 10 sec. torna calmo

      if( (currentMillis - previousMillis_2 >= interval_2) && play_2 == true) {

          previousMillis_2 = currentMillis; 

          play_2 = false;   

          play_1 = true;

          Serial.println(currentMillis);

      }

  // Se il canale è libero LED Verde altrimenti ROSSO

  if (ch_free) {

      digitalWrite(redLEDPin, HIGH);

      digitalWrite(yellowLEDPin, LOW);

      digitalWrite(blueLEDPin, HIGH);

  } else {

      digitalWrite(redLEDPin, LOW);

      digitalWrite(yellowLEDPin, HIGH);

      digitalWrite(blueLEDPin, HIGH);

  }

  // Ricezione dati IR

  if (irrecv.decode(&results)) {

    ch_free = false;

      //Serial.println(results.value, HEX);

      // Led rosso quando si ricevono dati

      digitalWrite(redLEDPin, HIGH);

      digitalWrite(yellowLEDPin, LOW);

      digitalWrite(blueLEDPin, LOW);   

    switch(results.value) {

        //Alcuni codici sono inviati da telecomando SONY

        case (0x39C): // Vai a destra  FF BUTTON

          left = false;

          right = true;

          stopped = false;

          play_1 = false;

          break;

        case (0xD9C): // Vai a sinistra REW BUTTON

          left = true;

          right = false;

          stopped = false;

          play_1 = false;

          break;

        case (0x19C): // stop  STOP BUTTON

          left = false;

          right = false;

          stopped = true;

          play_1 = false;

          break;

        case (0x59C): // movimento tranquillo PLAY BUTTON

          play_1 = true;

          stopped = false;

          left = false;

          right = false;

//            digitalWrite(redLEDPin, HIGH);

//            digitalWrite(yellowLEDPin, LOW);

//            digitalWrite(blueLEDPin, LOW);

          break;

        case (0x4C9D): // movimento agitato RED BUTTON

          play_2 = true;

          play_1 = false;

          stopped = false;

          left = false;

          right = false;

          break;

        case (0xA60): // movimento agitato Ricevuto da un TribeBot "diverso - di un altra Tribù ;-) "

          if (stopped) {break;}

          play_2 = true;

          play_1 = false;

          stopped = false;

          left = false;

          right = false;

          digitalWrite(redLEDPin, HIGH);

          digitalWrite(yellowLEDPin, HIGH);

          digitalWrite(blueLEDPin, HIGH);

          break;

    }

        irrecv.resume(); // Receive the next value

  }

  delay(100);

   // Trasmetti solo se il canale è libero

   if (ch_free) {

      for (int i = 0; i < 3; i++) {

          irsend.sendSony(0xA70, 12); // Codifica Sony TV power code

          delay(40);

       }

       irrecv.enableIRIn(); // Riabilita la ricezione

       ch_free = false;

//       digitalWrite(redLEDPin, HIGH);

//       digitalWrite(yellowLEDPin, HIGH);

//       digitalWrite(blueLEDPin, HIGH);

       delay(60);

   }

}