Mikanum/mecanum.ino

#include <boarddefs.h>
#include <IRremote.h>
#include <IRremoteInt.h>
#include <ir_Lego_PF_BitStreamEncoder.h>
#define IR 4
IRrecv irrecv(IR);

#define WHEEL_FRONT_LEFT_F A0
#define WHEEL_REAR_LEFT_R A1
#define WHEEL_REAR_RIGHT_F A2
#define WHEEL_FRONT_RIGHT_R A3

#define WHEEL_FRONT_LEFT_R 10
#define WHEEL_REAR_LEFT_F 9
#define WHEEL_FRONT_RIGHT_F 8
#define WHEEL_REAR_RIGHT_R 7

/*
 * 4060792887 ^
 * 4060752087 v
 * 4060768407 <
 * 4060784727 >
 * 4060801047 enter
 * 4060776567 menu
 * 4060774527 aspect
 * 4060745967 vol+
 * 4060794927 vol-
 * 4060803087 mute
 * 4060750047 source
 * 4060790847 video mode
 * 4060786767 keystone +
 * 4060778607 keystone -
 * 4060782687 mouse +
 * 4060766367 mouse -
 * 4060748007 auto adj
 * 4060743927 freeze
 * 4060754127 blank
 * 4060762287 zoom +
 * 4060770447 zoom -
 * 4060759227 info
 * 4060780647 vga
 * 4060742907 video
 * 4060775547 s-video
 */

void setup() {
  Serial.begin(115200);
  irrecv.enableIRIn();
  pinMode(WHEEL_REAR_RIGHT_R, OUTPUT);
  pinMode(WHEEL_REAR_RIGHT_F, OUTPUT);
  pinMode(WHEEL_REAR_LEFT_R, OUTPUT);
  pinMode(WHEEL_REAR_LEFT_F, OUTPUT);
  pinMode(WHEEL_FRONT_RIGHT_R, OUTPUT);
  pinMode(WHEEL_FRONT_RIGHT_F, OUTPUT);
  pinMode(WHEEL_FRONT_LEFT_R, OUTPUT);
  pinMode(WHEEL_FRONT_LEFT_F, OUTPUT);
}


void stop(){
  digitalWrite(WHEEL_REAR_RIGHT_R, HIGH);
  digitalWrite(WHEEL_REAR_RIGHT_F, HIGH);
  digitalWrite(WHEEL_REAR_LEFT_R, HIGH);
  digitalWrite(WHEEL_REAR_LEFT_F, HIGH);
  digitalWrite(WHEEL_FRONT_RIGHT_R, HIGH);
  digitalWrite(WHEEL_FRONT_RIGHT_F, HIGH);
  digitalWrite(WHEEL_FRONT_LEFT_R, HIGH);
  digitalWrite(WHEEL_FRONT_LEFT_F, HIGH);
}

void forward(){
  digitalWrite(WHEEL_REAR_RIGHT_F, LOW);
  digitalWrite(WHEEL_REAR_LEFT_F, LOW);
  digitalWrite(WHEEL_FRONT_RIGHT_F, LOW);
  digitalWrite(WHEEL_FRONT_LEFT_F, LOW);
}

void backward(){
  digitalWrite(WHEEL_REAR_RIGHT_R, LOW);
  digitalWrite(WHEEL_REAR_LEFT_R, LOW);
  digitalWrite(WHEEL_FRONT_RIGHT_R, LOW);
  digitalWrite(WHEEL_FRONT_LEFT_R, LOW);
}

void strafe_l(){
  digitalWrite(WHEEL_REAR_RIGHT_R, LOW);
  digitalWrite(WHEEL_REAR_LEFT_F, LOW);
  digitalWrite(WHEEL_FRONT_RIGHT_F, LOW);
  digitalWrite(WHEEL_FRONT_LEFT_R, LOW);
}

void strafe_r(){
  digitalWrite(WHEEL_REAR_RIGHT_F, LOW);
  digitalWrite(WHEEL_REAR_LEFT_R, LOW);
  digitalWrite(WHEEL_FRONT_RIGHT_R, LOW);
  digitalWrite(WHEEL_FRONT_LEFT_F, LOW);
}

void diag_l_f(){
  digitalWrite(WHEEL_REAR_LEFT_F, LOW);
  digitalWrite(WHEEL_FRONT_RIGHT_F, LOW);
}

void diag_r_r(){
  digitalWrite(WHEEL_REAR_LEFT_R, LOW);
  digitalWrite(WHEEL_FRONT_RIGHT_R, LOW);
}

void diag_r_f(){
  digitalWrite(WHEEL_REAR_RIGHT_F, LOW);
  digitalWrite(WHEEL_FRONT_LEFT_F, LOW);
}

void diag_l_r(){
  digitalWrite(WHEEL_REAR_RIGHT_R, LOW);
  digitalWrite(WHEEL_FRONT_LEFT_R, LOW);
}

void turn_l(){
  digitalWrite(WHEEL_REAR_RIGHT_R, LOW);
  digitalWrite(WHEEL_REAR_LEFT_F, LOW);
  digitalWrite(WHEEL_FRONT_RIGHT_R, LOW);
  digitalWrite(WHEEL_FRONT_LEFT_F, LOW);
}

void turn_r(){
  digitalWrite(WHEEL_REAR_RIGHT_F, LOW);
  digitalWrite(WHEEL_REAR_LEFT_R, LOW);
  digitalWrite(WHEEL_FRONT_RIGHT_F, LOW);
  digitalWrite(WHEEL_FRONT_LEFT_R, LOW);
}

unsigned long getIRremote(){
  static unsigned long lastValue = 0;
  decode_results irResults;
  if(irrecv.decode(&irResults) == 0){
    return 0;
  }
  if(!(irResults.decode_type == NEC && irResults.value == REPEAT)){
    lastValue = irResults.value;
  }
  irrecv.resume();
  return lastValue;
}

void loop() {
  
  unsigned long remote = getIRremote();
  static unsigned long modus;
  if(remote){
    Serial.println(remote);
    modus = remote;
  }
  if(modus == 4060792887){
      forward();
  }else if(modus == 4060801047){
    stop();
  }else if(modus == 4060752087){
    backward();
  }else if(modus == 4060768407){
    strafe_l();
  }else if(modus == 4060784727){
    strafe_r();
  }else if(modus == 4060750047){
    turn_l();
  }else if(modus == 4060790847){
    turn_r();
  }else if(modus == 4060786767){
    diag_l_f();
  }else if(modus == 4060778607){
    diag_r_r();
  }else if(modus == 4060782687){
    diag_r_f();
  }else if(modus == 4060766367){
    diag_l_r();
  }
  
  /*
  stop();
  forward();
  delay(1000);
  stop();
  backward();
  delay(1000);
  stop();
  strafe_l();
  delay(1000);
  stop();
  strafe_r();
  delay(1000);
  stop();
  diag_l_f();
  delay(1000);
  stop();
  diag_l_r();
  delay(1000);
  stop();
  diag_r_f();
  delay(1000);
  stop();
  diag_r_r();
  delay(1000);
  stop();
  turn_l();
  delay(1000);
  stop();
  turn_r();
  delay(1000);
  stop();
  */
}