### Project 11 Infrared Control Turtle Robot **1.Overview** In the previous section, we have introduced how to use an IR remote control to control a 8 * 8 dot matrix. So think that how to control the smart robot with an IR remote control. It is very simple. Use ARDUINO board to analyze and judge the collected infrared signal so as to drive the motor forward,backward and turn. You can apply the decoding value of remote control mentioned before to the code that used to control the robot with IR remote control. It also adds a 8 * 8 dot matrix to display the running state of turtle robot. **2.Wiring Diagram** ![](media/image-20251215094024835.png) Next let’s look back to the decoding value of IR remote control. ![](media/image-20251215094311410.png) You can get the details: - Forward button: 0x00FF629D - Backward button: 0x00FFA857 - Stop button: 0x00FF02FD - Left button: 0x00FF22DD - Right Button: 0x00FFC23D You can apply those data to the code of infrared controlled robot. **3.Code 14** ```c //DOT MATRIX #include // add IIC libraries #include "Adafruit_LEDBackpack.h" // add the libraries of matrix display #include "Adafruit_GFX.h" Adafruit_LEDBackpack matrix = Adafruit_LEDBackpack(); // build an object to control a dot matrix // IR receiver #include // add the libraries of IR receiver int RECV_PIN = A0; // define the ir receiver pin as A0 IRrecv irrecv(RECV_PIN); decode_results results; // decoding value of ir receiver const long IR_front = 0x00FF629D; const long IR_back = 0x00FFA857; const long IR_left = 0x00FF22DD; const long IR_right = 0x00FFC23D; const long IR_stop = 0x00FF02FD; const long IR_1 = 0x00FF6897; const long IR_2 = 0x00FF9867; const long IR_3 = 0x00FFB04F; const long IR_4 = 0x00FF30CF; const long IR_5 = 0x00FF18E7; const long IR_6 = 0x00FF7A85; const long IR_7 = 0x00FF10EF; const long IR_8 = 0x00FF38C7; const long IR_9 = 0x00FF5AA5; const long IR_0 = 0x00FF52AD; // control two motors #define INT_A 2 // control the left motor direction pin D2 #define INT_B 4 // control the right motor direction pin D4 #define left_A 9 // define the left motor speed control pin as D9 #define right_B 5 // define the right motor speed control pin as D5 int i=0; long val; // define a variable to receive the signal sent by IR transmitter void setup() { Serial.begin(9600); // set the serial baud rate to 9600 irrecv.enableIRIn(); // Start the receiver delay(100); // delay 100ms pinMode(INT_A,OUTPUT); // set the motor control pin as OUTPUT pinMode(INT_B,OUTPUT); pinMode(left_A,OUTPUT); pinMode(right_B,OUTPUT); // DOT MATRIX matrix.begin(0x70); // pass in the address chushi(); //initial matrix display } void loop() { i = 1; if(irrecv.decode(&results)) // if receive the infrared signal { val = results.value; // assign the result value to val Serial.println(val,HEX); // print out hexadecimal val value on the serial monitor switch(val) // perform the corresponding function for the received data { case IR_front: front(),qian(); break; // if receive the（IR_front = 0x00FF629D），perform the front function（front()）and matrix display function（qian()） case IR_back: back(),hou(); break; // backward case IR_left: left(),zuo(); break; // turn left case IR_right: right(),you(); break; // turn right case IR_stop: Stop(),ting(); break; // stop case IR_1: front_s(); break; // walk in S line case IR_2: left_l(),ZZ(); break; // turn around the wheel on the left case IR_3: right_l(),YZ(); break; // turn around the wheel on the right case IR_4: right_r(),ZX(); break; // turn a circle to the right case IR_5: left_r(),YX(); break; // turn a circle to the left default : printf("error"); } irrecv.resume(); // Receive the next value } } // go forward void front() { digitalWrite(INT_A,LOW); // control the left motor turn forward digitalWrite(INT_B,LOW); // control the right motor turn forward analogWrite(left_A,200); // set the two motors’ speed（PWM=200) analogWrite(right_B,200); } // backward void back() { digitalWrite(INT_A,HIGH); // control the left motor turn backward digitalWrite(INT_B,HIGH); // control the right motor turn backward analogWrite(left_A,200); // set the two motors’ speed （PWM=200) analogWrite(right_B,200); } // turn left void left() { digitalWrite(INT_A,HIGH); // control the left motor turn backward digitalWrite(INT_B,LOW); // control the right motor turn forward analogWrite(left_A,100); // set the two motors’ speed（PWM为100） analogWrite(right_B,100); } // turn right void right() { digitalWrite(INT_A,LOW); // control the left motor turn forward digitalWrite(INT_B,HIGH); // control the right motor turn backward analogWrite(left_A,100); // two motors’ speed（PWM为100） analogWrite(right_B,100); } // stop void Stop() { digitalWrite(INT_A,LOW); digitalWrite(INT_B,LOW); analogWrite(left_A,0); // both PWM are 0 analogWrite(right_B,0); } //walk in S line void front_s() { S(); while(i>0) { digitalWrite(INT_A,LOW); // control the left motor turn forward digitalWrite(INT_B,LOW); // control the right motor turn forward analogWrite(left_A,50); // left motor PWM=100 analogWrite(right_B,255); // right motor PWM=255 （walk in S line to the left） delay(300); // delay 1S analogWrite(left_A,255); // left motor PWM=255 analogWrite(right_B,50); // right motor PWM=100 （walk in S line to the right） delay(300); // delay 1S if(irrecv.decode(&results)) // if receive the infrared signal { irrecv.resume(); // Receive the next value val=results.value; // assign the received data to val if(val==IR_stop) // if receive the stop command { Stop(); // stop break; // exit the current function } } } } //turn around the wheel on the left void left_l() { digitalWrite(INT_A,HIGH); // control the left motor turn backward digitalWrite(INT_B,LOW); // control the right motor turn forward analogWrite(left_A,0); //left PWM=0，left wheel stops analogWrite(right_B,200); //right PWM=200，right wheel goes front } // turn around the wheel on the right void right_l() { digitalWrite(INT_A,HIGH); // control the left motor turn backward digitalWrite(INT_B,LOW); // control the right motor turn forward analogWrite(left_A,200); //left PWM=200， left wheel goes forward analogWrite(right_B,0); //right PWM=0，right wheel stops } // turn a circle to the right void right_r() { digitalWrite(INT_A,LOW); // control the left motor turn forward digitalWrite(INT_B,LOW); // control the right motor turn forward analogWrite(left_A,100); // left motor PWM=100 analogWrite(right_B,200); // right motor PWM=200 （car turns around to the left） } // turn around to the left void left_r() { digitalWrite(INT_A,LOW); // control the left motor turn forward digitalWrite(INT_B,LOW); // control the right motor turn forward analogWrite(left_A,200); // left motor PWM=100 analogWrite(right_B,100); // right motor PWM=200 （ car turns around to the left） } ////////////////////////matrix display image//////////////////////////// // front image void qian() { matrix.displaybuffer[3] = B11111111; matrix.displaybuffer[4] = B11111111; matrix.displaybuffer[2] = B00000001; matrix.displaybuffer[1] = B00000010; matrix.displaybuffer[0] = B00000100; matrix.displaybuffer[5] = B00000001; matrix.displaybuffer[6] = B00000010; matrix.displaybuffer[7] = B00000100; matrix.writeDisplay(); } // back image void hou() { matrix.displaybuffer[3] = B11111111; matrix.displaybuffer[4] = B11111111; matrix.displaybuffer[2] = B00100000; matrix.displaybuffer[1] = B00010000; matrix.displaybuffer[0] = B00001000; matrix.displaybuffer[5] = B00100000; matrix.displaybuffer[6] = B00010000; matrix.displaybuffer[7] = B00001000; matrix.writeDisplay(); } //right image void you() { for(int i=0;i<8;i++) { matrix.displaybuffer[i] = B00001100; } matrix.displaybuffer[6] = B00011110; matrix.displaybuffer[5] = B00101101; matrix.displaybuffer[4] = B11001100; matrix.writeDisplay(); } // left image void zuo() { for(int i=0;i<8;i++) { matrix.displaybuffer[i] = B00001100; } matrix.displaybuffer[1] = B00011110; matrix.displaybuffer[2] = B00101101; matrix.displaybuffer[3] = B11001100; matrix.writeDisplay(); } // stop image void ting() { matrix.displaybuffer[0] = B11000000; matrix.displaybuffer[1] = B00100001; matrix.displaybuffer[2] = B00010010; matrix.displaybuffer[3] = B00001100; matrix.displaybuffer[4] = B00001100; matrix.displaybuffer[5] = B00010010; matrix.displaybuffer[6] = B00100001; matrix.displaybuffer[7] = B11000000; matrix.writeDisplay(); } // initial image void chushi() { matrix.displaybuffer[0] = B00000011; matrix.displaybuffer[1] = B10000000; matrix.displaybuffer[2] = B00010011; matrix.displaybuffer[3] = B00100000; matrix.displaybuffer[4] = B00100000; matrix.displaybuffer[5] = B00010011; matrix.displaybuffer[6] = B10000000; matrix.displaybuffer[7] = B00000011; matrix.writeDisplay(); } //S line void S() { matrix.displaybuffer[0] = B00000000; matrix.displaybuffer[1] = B00000000; matrix.displaybuffer[2] = B00110001; matrix.displaybuffer[3] = B11001000; matrix.displaybuffer[4] = B11000100; matrix.displaybuffer[5] = B00100011; matrix.displaybuffer[6] = B00000000; matrix.displaybuffer[7] = B00000000; matrix.writeDisplay(); } // turn around the wheel on the left void ZZ() { matrix.displaybuffer[0] = B00000000; matrix.displaybuffer[1] = B10000011; matrix.displaybuffer[2] = B11000001; matrix.displaybuffer[3] = B10100010; matrix.displaybuffer[4] = B00010100; matrix.displaybuffer[5] = B00001000; matrix.displaybuffer[6] = B00000000; matrix.displaybuffer[7] = B00000000; matrix.writeDisplay(); } // turn around the wheel on the right void YZ() { matrix.displaybuffer[0] = B00000000; matrix.displaybuffer[1] = B00000000; matrix.displaybuffer[2] = B00001000; matrix.displaybuffer[3] = B00010100; matrix.displaybuffer[4] = B10100010; matrix.displaybuffer[5] = B11000001; matrix.displaybuffer[6] = B10000011; matrix.displaybuffer[7] = B00000000; matrix.writeDisplay(); } // turn around to the left void ZX() { matrix.displaybuffer[0] = B00000000; matrix.displaybuffer[1] = B00011100; matrix.displaybuffer[2] = B00100010; matrix.displaybuffer[3] = B01000001; matrix.displaybuffer[4] = B00000001; matrix.displaybuffer[5] = B00111001; matrix.displaybuffer[6] = B00110010; matrix.displaybuffer[7] = B00101100; matrix.writeDisplay(); } // turn around to the right void YX() { matrix.displaybuffer[0] = B00001100; matrix.displaybuffer[1] = B00110010; matrix.displaybuffer[2] = B00111001; matrix.displaybuffer[3] = B00000001; matrix.displaybuffer[4] = B00000001; matrix.displaybuffer[5] = B00100010; matrix.displaybuffer[6] = B00011100; matrix.displaybuffer[7] = B00000000; matrix.writeDisplay(); } ``` Upload the above code to the board, and turn on the POWER button on the shield. Aligned with the IR receiver, use remote control to control the turtle robot run, showing the running states on the dot matrix display. ![](media/image-20251215100914680.png)