Tank.ino

#include <IRremote.h>

// PIN Setup
#define IR_IN_PIN 2
#define MOTOR_SPEED 11
#define MOTOR_IN_1 13
#define MOTOR_IN_2 12

// IR Setup
IRrecv irrecv(IR_IN_PIN);
decode_results results;

// State
unsigned long latestInput = 0;
unsigned long lastButtonInput = 0;

void setup() {
    irSetup();
    dcMotorSetup();
}

void loop(){
    if(irrecv.decode(&results)) {
        switch(results.value){
            case WILDCARD:
                results.value = lastButtonInput;
                break;
            case GO_FORWARD:
                dcMotorMove(FORWARD);
                lastButtonInput = GO_FORWARD;
                break;
            case GO_BACKWARD:
                dcMotorMove(BACKWARD);
                lastButtonInput = GO_BACKWARD;
                break;
        }

        delay(30);
        irrecv.resume();
    } else {
        if(latestInput || lastButtonInput) {
            dcMotorStop();
            latestInput = 0;
            lastButtonInput = 0;
        }
    }
}

void irSetup() {
    irrecv.enableIRIn();
    irrecv.blink13(true);
}

void dcMotorSetup() {
    pinMode(MOTOR_SPEED, OUTPUT);
    pinMode(MOTOR_IN_1, OUTPUT);
    pinMode(MOTOR_IN_2, OUTPUT);
}

void dcMotorMove(int direction) {
    switch(direction) {
        case FORWARD:
            digitalWrite(MOTOR_IN_1, HIGH);
            digitalWrite(MOTOR_IN_2, LOW);
            break;
        case BACKWARD:
            digitalWrite(MOTOR_IN_1, LOW);
            digitalWrite(MOTOR_IN_2, HIGH);
            break;
    }
    dcMotorAccelerate();
}

void dcMotorAccelerate(int min_speed = 0, int max_speed = 255, int interval = 20) {
    for (int i = min_speed; i =< max_speed; ++i) {
        analogWrite(MOTOR_SPEED, i);
        delay(interval);
    }
}

void dcMotorDecelerate(int min_speed = 0, int max_speed = 255, int interval = 20) {
    for (int i = max_speed; i >= min_speed; i++) {
        analogWrite(MOTOR_SPEED, i);
        delay(interval);
    }
}

void dcMotorStop() {
    dcMotorDecelerate();
    digitalWrite(MOTOR_IN_1, LOW);
    digitalWrite(MOTOR_IN_2, LOW);
}

enum Moves {
    GO_FORWARD = 0xFF629D,
    GO_BACKWARD = 0xFFA857,
    TURN_RIGHT = 0xFFC23D,
    TURN_LEFT = 0xFF22DD,
    TURN_RIGHT_90 = 0xFFE21D,
    TURN_LEFT_90 = 0xFFA25D,
    TURN_180 = 0xFF02FD,
    WILDCARD = 0xFFFFFFFF
}

enum Direction {
    FORWARD,
    BACKWARD
}