#include "IRremote.

h"
#include <Servo.h>
//Pins for motor A
const int MotorA1 = 7; //INT1
const int MotorA2 = 5; //INT2
//Pins for motor B
const int MotorB1 = 4; //INT3
const int MotorB2 = 2; //INT4
//Pins for ultrasonic sensor
const int trigger=12;
const int echo=13;
int leftscanval, centerscanval, rightscanval, ldiagonalscanval, rdiagonalscanval
;
char choice;
//Pin for IR control
//!!!!!!!!!Hay que cambiar su lugar en el shield porque esta en el doce y es 11
me refiero en la posicion d12 de la parallel interface
int receiver = 11; // pin 1 of IR receiver to Arduino digital pin 12
IRrecv irrecv(receiver);
// create instance of 'irrecv'
decode_results results;
char contcommand;
int modecontrol=0;
int power=0;
const int distancelimit = 27; //Distance limit for obstacles in front
const int sidedistancelimit = 12; //Minimum distance in cm to obstacles at both
sides (the robot will allow a shorter distance sideways)
int distance;
int numcycles = 0;
char turndirection; //Gets 'l', 'r' or 'f' depending on which direction is obsta
cle free
const int turntime = 900; //Time the robot spends turning (miliseconds)
int thereis;
Servo head;
void setup(){
head.attach(9);
head.write(80);
irrecv.enableIRIn(); // Start the IR receiver
pinMode(MotorA1, OUTPUT);
pinMode(MotorA2, OUTPUT);
pinMode(MotorB1, OUTPUT);
pinMode(MotorB2, OUTPUT);
pinMode(trigger,OUTPUT);
pinMode(echo,INPUT);
//Variable inicialization
digitalWrite(MotorA1,LOW);
digitalWrite(MotorA2,LOW);
digitalWrite(MotorB1,LOW);
digitalWrite(MotorB2,LOW);
digitalWrite(trigger,LOW);
}
void go(){
digitalWrite (MotorA1, HIGH);
digitalWrite (MotorA2, LOW);

digitalWrite (MotorB1, HIGH);

digitalWrite (MotorB2, LOW);
}
void backwards(){
digitalWrite (MotorA1 , LOW);
digitalWrite (MotorA2, HIGH);
digitalWrite (MotorB1, LOW);
digitalWrite (MotorB2, HIGH);
}
int watch(){
long howfar;
digitalWrite(trigger,LOW);
delayMicroseconds(5);
digitalWrite(trigger,HIGH);
delayMicroseconds(15);
digitalWrite(trigger,LOW);
howfar=pulseIn(echo,HIGH);
howfar=howfar*0.01657; //how far away is the object in cm
return round(howfar);
}
void turnleft(int t){
digitalWrite (MotorA1,
digitalWrite (MotorA2,
digitalWrite (MotorB1,
digitalWrite (MotorB2,
delay(t);
}

LOW);
HIGH);
HIGH);
LOW);

void turnright(int t){

digitalWrite (MotorA1,
digitalWrite (MotorA2,
digitalWrite (MotorB1,
digitalWrite (MotorB2,
delay(t);
}

HIGH);
LOW);
LOW);
HIGH);

void stopmove(){
digitalWrite (MotorA1 ,LOW);
digitalWrite (MotorA2, LOW);
digitalWrite (MotorB1, LOW);
digitalWrite (MotorB2, LOW);
}
void watchsurrounding(){ //Meassures distances to the right, left, front, left d
iagonal, right diagonal and asign them in cm to the variables rightscanval,
//leftscanval, centerscanval, ldiagonalscanval and rdia
gonalscanval (there are 5 points for distance testing)
centerscanval = watch();
if(centerscanval<distancelimit){stopmove();}
head.write(120);
delay(100);
ldiagonalscanval = watch();
if(ldiagonalscanval<distancelimit){stopmove();}
head.write(160); //Didn't use 180 degrees because my servo is not able to take
this angle
delay(300);

leftscanval = watch();
if(leftscanval<sidedistancelimit){stopmove();}
head.write(120);
delay(100);
ldiagonalscanval = watch();
if(ldiagonalscanval<distancelimit){stopmove();}
head.write(80); //I used 80 degrees because its the central angle of my 160 de
grees span (use 90 degrees if you are moving your servo through the whole 180 de
grees)
delay(100);
centerscanval = watch();
if(centerscanval<distancelimit){stopmove();}
head.write(40);
delay(100);
rdiagonalscanval = watch();
if(rdiagonalscanval<distancelimit){stopmove();}
head.write(0);
delay(100);
rightscanval = watch();
if(rightscanval<sidedistancelimit){stopmove();}
head.write(80); //Finish looking around (look forward again)
delay(300);
}
char decide(){
watchsurrounding();
if (leftscanval>rightscanval && leftscanval>centerscanval){
choice = 'l';
}
else if (rightscanval>leftscanval && rightscanval>centerscanval){
choice = 'r';
}
else{
choice = 'f';
}
return choice;
}
void translateIR() { //Used when robot is switched to operate in remote control
mode
switch(results.value)
{
case 0xFF629D: //Case 'FORWARD'
go();
break;
case 0xFF22DD: //Case 'LEFT'
turnleft(turntime);
stopmove();
break;
case 0xFF02FD: //Case 'OK'
stopmove();
break;
case 0xFFC23D: //Case 'RIGHT'
turnright(turntime);
stopmove();
break;
case 0xFFA857: //Case 'REVERSE'
backwards();
break;

case 0xFF42BD: //Case '*'

modecontrol=0; stopmove(); // If an '*' is received, switch to automatic rob
ot operating mode
break;
default:
;
}// End Case
delay(500); // Do not get immediate repeat
}
void loop(){
if (irrecv.decode(&results)){ //Check if the remote control is sending a signa
l
if(results.value==0xFF6897){ //If an '1' is received, turn on robot
power=1; }
if(results.value==0xFF4AB5){ //If a '0' is received, turn off robot
stopmove();
power=0; }
if(results.value==0xFF42BD){ //If an '*' is received, switch operating mode
from automatic robot to remote control (press also "*" to return to automatic ro
bot mode)
modecontrol=1; // Activate remote control operating mode
stopmove(); //The robot stops and starts responding to the user's directio
ns
}
irrecv.resume(); // receive the next value
}
while(modecontrol==1){ //The system gets into this loop during the remote cont
rol mode until modecontrol=0 (with '*')
if (irrecv.decode(&results)){ //If something is being received
translateIR();//Do something depending on the signal received
irrecv.resume(); // receive the next value
}
}
if(power==1){
go(); // if nothing is wrong go forward using go() function above.
++numcycles;
if(numcycles>130){ //Watch if something is around every 130 loops while moving
forward
watchsurrounding();
if(leftscanval<sidedistancelimit || ldiagonalscanval<distancelimit){
turnright(turntime);
}
if(rightscanval<sidedistancelimit || rdiagonalscanval<distancelimit){
turnleft(turntime);
}
numcycles=0; //Restart count of cycles
}
distance = watch(); // use the watch() function to see if anything is ahead (w
hen the robot is just moving forward and not looking around it will test the dis
tance in front)
if (distance<distancelimit){ // The robot will just stop if it is completely s
ure there's an obstacle ahead (must test 25 times) (needed to ignore ultrasonic
sensor's false signals)
++thereis;}
if (distance>distancelimit){
thereis=0;} //Count is restarted
if (thereis > 25){

stopmove(); // Since something is ahead, stop moving.

turndirection = decide(); //Decide which direction to turn.
switch (turndirection){
case 'l':
turnleft(turntime);
break;
case 'r':
turnright(turntime);
break;
case 'f':
; //Do not turn if there was actually nothing ahead
break;
}
thereis=0;
}
}
}