#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <IRremote.h> // IRremote库声明
#include <pt.h>//ProtoThreads必须包含的头文件
#include <Servo.h>
#include <Wire.h>
#include <LCD.h>
#include <LiquidCrystal_I2C.h>
#define PT_USE_TIMER
#define PT_USE_SEM
Servo myservo;
LiquidCrystal_I2C lcd(0x20,2,1,0,4,5,6,7);
int input1 = 9; // 定义uno的pin 5 向 input1 输出
int input2 = 10; // 定义uno的pin 6 向 input2 输出
int input3 = 5; // 定义uno的pin 9 向 input3 输出
int input4 = 6; // 定义uno的pin 10 向 input4 输出
int input7 = 7; // 定义uno的pin 7 向 input7 输出
int pos = 20;
int LED = 4;
int RECV_PIN = 3;
IRrecv irrecv(RECV_PIN);
decode_results results;
static struct pt thread1;//thread one
long control[7][3] = {//遥控器矫正数字
{16580863, 16613503, 16597183},
{16589023, 16621663, 16605343},
{16584943, 16617583, 16601263},
{16593103, 16625743, 16609423},
{16582903, 16615543, 16599223},
{16591063, 16623703, 16607383},
{16586983, 16619623, 16603303}
};
void initRun() { // init
pinMode(input1, OUTPUT);
pinMode(input2, OUTPUT);
pinMode(input3, OUTPUT);
pinMode(input4, OUTPUT);
initLeftAndRight();
}
void initLight() { //init light
pinMode(LED, OUTPUT);
}
void getLeftAndRight_left() {
for (pos = 30; pos < 90; pos += 1)
{
myservo.write(pos);
delay(15);
}
}
void getLeftAndRight_center() {
Serial.println(110);
Serial.println(pos);
if (pos == 90) {
for (pos = 90; pos > 30; pos -= 1)
{
myservo.write(pos);
delay(15);
}
}else if(pos == -30){
for (pos = -30; pos < 30; pos += 1)
{
myservo.write(pos);
delay(15);
}
}
}
void getLeftAndRight_right() {
for (pos = 30; pos > -30; pos -= 1)
{
myservo.write(pos);
delay(15);
}
}
void initLeftAndRightPoint() {
myservo.write(pos);
}
void initLeftAndRight() {
myservo.attach(input7);
initLeftAndRightPoint();
}
void wjf_initLcd(){
lcd.begin (16,2); // for 16 x 2 LCD module
lcd.setBacklightPin(3,POSITIVE);
lcd.setBacklight(HIGH);
}
void wjf_setLcd(char *str){
lcd.home (); // set cursor to 0,0
lcd.print(str);
lcd.setCursor (0,1); // go to start of 2nd line
//lcd.print(millis());
//delay(1000);
lcd.setBacklight(LOW); // Backlight off delay(250);
lcd.setBacklight(HIGH); // Backlight on delay(1000);
}
void setup()
{
Serial.begin(9600);
irrecv.enableIRIn(); // 启动接收器
initRun();
initLight();
wjf_initLcd();
wjf_setLcd("welcome human");
}
void left() {
digitalWrite(input1, HIGH); //给高电平
digitalWrite(input2, LOW); //给低电平
//delay(1000); //延时1秒
}
void right() {
digitalWrite(input1, LOW);
digitalWrite(input2, HIGH);
//delay(1000);
}
void goRun() {
digitalWrite(input3, HIGH); //给高电平
digitalWrite(input4, LOW); //给低电平
//delay(1000); //延时1秒
}
void goBack() {
digitalWrite(input3, LOW);
digitalWrite(input4, HIGH);
//delay(1000);
}
void goStop() {
//stop 停止
digitalWrite(input1, LOW);
digitalWrite(input2, LOW);
digitalWrite(input3, LOW);
digitalWrite(input4, LOW);
//delay(1000); //延时0.5秒
}
void openLight() {
digitalWrite(LED, HIGH);
}
static int goThread1(struct pt *pt) //线程
{
//PT_BEGIN(pt); //线程开始
while (1) //每个线程都不会死
{
digitalWrite(LED, HIGH);
//delay(1000);
digitalWrite(LED, LOW);
//delay(1000);
}
//PT_END(pt); //线程结束
}
void closeLight() {
digitalWrite(LED, LOW);
}
void loop() {
if (irrecv.decode(&results))
{
Serial.println(results.value, HEX);//以16进制换行输出接收代码
if (results.value == 4294967295) {
//long click
} else {
if (results.value == control[0][0]) {
} else if (results.value == control[0][1]) {//上
//openLight();
//goRun();
openLight();
left();
wjf_setLcd("go forward");
} else if (results.value == control[0][2]) {
} else if (results.value == control[1][0]) {//左
openLight();
getLeftAndRight_left();
wjf_setLcd("go left");
} else if (results.value == control[1][1]) {//中
initLeftAndRightPoint();
closeLight();
goStop();
//
openLight();
getLeftAndRight_center();
wjf_setLcd("stoping...");
} else if (results.value == control[1][2]) {//右
openLight();
getLeftAndRight_right();
wjf_setLcd("go right");
} else if (results.value == control[2][0]) {
} else if (results.value == control[2][1]) {//下
//openLight();
//goBack();
openLight();
right();
wjf_setLcd("go back");
} else if (results.value == control[2][2]) {
} else if (results.value == control[3][0]) {//0
} else if (results.value == control[3][1]) {
} else if (results.value == control[3][2]) {//st
} else if (results.value == control[4][0]) {
} else if (results.value == control[4][1]) {
} else if (results.value == control[4][2]) {
} else if (results.value == control[5][0]) {
} else if (results.value == control[5][1]) {
} else if (results.value == control[5][2]) {
} else if (results.value == control[6][0]) {
} else if (results.value == control[6][1]) {
} else if (results.value == control[6][2]) {
}
}
irrecv.resume(); // 接收下一个值
}
delay(100);
}
