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1 | #include <AFMotor.h> | |
2 | #include <IRremote.h> | |
3 | #define irPin 2 | |
4 | ||
5 | IRrecv irrecv(irPin); | |
6 | decode_results results; | |
7 | AF_DCMotor motor(4); | |
8 | AF_DCMotor motor1(3); | |
9 | ||
10 | - | int counter = 0; |
10 | + | unsigned long lastCommand = 0; |
11 | ||
12 | void setup() { | |
13 | Serial.begin(9600); | |
14 | irrecv.enableIRIn(); | |
15 | ||
16 | - | motor.setSpeed(200); |
16 | + | motor.setSpeed(200); |
17 | motor1.setSpeed(200); | |
18 | motor.run(RELEASE); | |
19 | - | motor1.run(RELEASE); |
19 | + | motor1.run(RELEASE); |
20 | } | |
21 | ||
22 | void loop() { | |
23 | if (irrecv.decode(&results)) { | |
24 | lastCommand = millis(); | |
25 | switch (results.value) { | |
26 | case 0xFF629D: | |
27 | Serial.println("jazda w przod"); | |
28 | motor.run(FORWARD); | |
29 | motor1.run(FORWARD); | |
30 | - | counter = 0; |
30 | + | |
31 | ||
32 | case 0xFF6897: | |
33 | Serial.println("jazda w tyl"); | |
34 | motor.run(BACKWARD); | |
35 | motor1.run(BACKWARD); | |
36 | break; | |
37 | - | counter = 0; |
37 | + | |
38 | case 0xFFA857: | |
39 | Serial.println("jazda w prawo"); | |
40 | motor.run(BACKWARD); | |
41 | motor1.run(FORWARD); | |
42 | break; | |
43 | ||
44 | - | counter = 0; |
44 | + | |
45 | Serial.println("jazda w lewo"); | |
46 | motor.run(FORWARD); | |
47 | motor1.run(BACKWARD); | |
48 | break; | |
49 | ||
50 | case 0xFFE817: | |
51 | - | counter = 0; |
51 | + | |
52 | motor.run(RELEASE); | |
53 | motor1.run(RELEASE); | |
54 | break; | |
55 | } | |
56 | irrecv.resume(); | |
57 | } | |
58 | ||
59 | if(lastCommand && millis() - lastCommand > 500) // w sumie minimalnie penisek, bo jest szansa że ktoś się idealnie wstrzeli w overflow, ale welp :3 | |
60 | { | |
61 | motor.run(RELEASE); | |
62 | motor1.run(RELEASE); | |
63 | - | if(counter == 50) |
63 | + | lastCommand = 0; |
64 | } | |
65 | } |