### Project 4 Infrared remote control smart car

![](media/wps11.png)

**1.Before the experiment**

1. Place the function library IRremote into the Arduino libraries directory.
2. Open IrReceive.pde to acquire the code for your infrared remote control ( IRcode will be displayed in Serial Monitor), write down IRcode and modify it in your IR code in the program.

Code 5

```c
/*
*IRRemote code test
*Example 1.2: display the type of IR protocol such as  NEC, Sony SIRC, Philips RC5, Philips RC6
*/

#include <IRremote.h>	// call IRRemote function library
const int irReceiverPin = 2;	// set pin 2 as IR receiver signal  OUTPUT
IRrecv irrecv(irReceiverPin);		// set  IRrecv to receive IR signal 
decode_results results;	//  decode result will be put into the variable of the result in the  decode_results

void setup()
{
    Serial.begin(9600);// set communication rate at  9600 bps 
    irrecv.enableIRIn();// start IR decoding
}

//  display the type of IR protocol
void showIRProtocol(decode_results *results)
{
    Serial.print("Protocol: ");
    // determine  the type of IR protocol 
    switch(results->decode_type) 
    { 
        case NEC:
        Serial.print("NEC"); break;
        case SONY: Serial.print("SONY"); break;
        case RC5: Serial.print("RC5"); break;
        case RC6: Serial.print("RC6"); break;
        default:
        Serial.print("Unknown encoding");
    }
    // serial print IR code to Serial port Serial.print(", irCode: ");
    Serial.print(results->value, HEX);	// IR code
    Serial.print(", bits: ");
    Serial.println(results->bits);	//  IR code bit
}

void loop()
{
    if (irrecv.decode(&results)) 
    {	//  finish decoding, receive IR signal 
        showIRProtocol(&results);// display the type of IR protocol
        irrecv.resume();// continue receiving IR signal coming next
    }
}
```

Replace the IR code in the IR control part program with the code from the test result IR remote control smart car program.

![](media/wps12.png)

**2.IR remote control smart car program**

Code 6

```c
#include <IRremote.h> 
int RECV_PIN = 2;
int pinLB=5;// define pin for I1
int pinLF=6;// define pin for I2
int pinRB=10;// define pin for I3
int pinRF=11;// define pin for I4
//******IR control part********
long advence = 0x00FF629D;
long back = 0x00FFA857;
long stop = 0x00FF02FD;
long left = 0x00FF22DD;
long right = 0x00FFC23D;
IRrecv irrecv(RECV_PIN);
decode_results results;

void dump(decode_results *results)
{ 
    int count = results->rawlen;
    if (results->decode_type == UNKNOWN)
    {
    	Serial.println("Could not decode message");
    }
    else
    {
        if (results->decode_type == NEC)
        {
        	Serial.print("Decoded NEC: ");
        }
        else if (results->decode_type == SONY)
        {
        	Serial.print("Decoded SONY: ");
        }
        else if (results->decode_type == RC5)
        {
        	Serial.print("Decoded RC5: ");
        }
        else if (results->decode_type == RC6)
        {
        	Serial.print("Decoded RC6: ");
        }
        Serial.print(results->value, HEX);
        Serial.print(" (");
        Serial.print(results->bits, DEC);
        Serial.println(" bits)");
    }
    Serial.print("Raw (");
    Serial.print(count, DEC);
    Serial.print("): ");
    for (int i = 0; i < count; i++)
    {
        if ((i % 2) == 1) 
        {
        	Serial.print(results->rawbuf[i]*USECPERTICK, DEC);
        }
        else
        {
        	Serial.print(-(int)results->rawbuf[i]*USECPERTICK, DEC);
        }
        Serial.print(" ");
    }
    Serial.println("");
}

void setup()
{
    pinMode(RECV_PIN, INPUT);
    pinMode(pinLB,OUTPUT); pinMode(pinLF,OUTPUT);
    pinMode(pinRB,OUTPUT); pinMode(pinRF,OUTPUT);
    Serial.begin(9600);
    irrecv.enableIRIn(); // Start the receiver
}

int on = 0;
unsigned long last = millis();

void loop()
{
    if (irrecv.decode(&results))
    {
    	// If it's been at least 1/4 second since the last
    	// IR received, toggle the relay 
        if (millis() - last > 250)
        {
            on = !on;
            // digitalWrite(8, on ? HIGH : LOW);
            digitalWrite(13, on ? HIGH : LOW);
            dump(&results);
        }
        if (results.value == advence )
        {
            digitalWrite(pinRB,LOW);// motor going right
            digitalWrite(pinRF,HIGH);
            digitalWrite(pinLB,LOW);// motor going left
            digitalWrite(pinLF,HIGH);
        }
        if (results.value == back )
        {
            digitalWrite(pinRB,HIGH);// motor going right and BACK
            digitalWrite(pinRF,LOW);
            digitalWrite(pinLB,HIGH);// motor going left and BACK
            digitalWrite(pinLF,LOW);
        }
        if (results.value == left )
        { 
            digitalWrite(pinRB,LOW);// motor going right and STOP
            digitalWrite(pinRF,HIGH);
            digitalWrite(pinLB,HIGH);// motor going left
            digitalWrite(pinLF,LOW);
        }
        if (results.value == right )
        { 
            digitalWrite(pinRB,HIGH);// motor going right
            digitalWrite(pinRF,LOW);
            digitalWrite(pinLB,HIGH);// motor going left and STOP
            digitalWrite(pinLF,HIGH);
        }
        if (results.value == stop )
        {
            digitalWrite(pinRB,HIGH);// motor going right and STOP
            digitalWrite(pinRF,HIGH);
            digitalWrite(pinLB,HIGH);// motor going left and STOP
            digitalWrite(pinLF,HIGH);
        }
        last = millis();
        irrecv.resume(); // Receive the next value
    }
}
```