auto_005

#include <IRremote.h>
#define irPin 11
#define go_time 1000
#define turn_time 200
#define motor_left_A 2
#define motor_left_B 3
#define motor_right_A 4
#define motor_right_B 5
#define reset_button 6
#define pin_for_sign_post_left 7
#define pin_for_sign_post_right 8

IRrecv irrecv(irPin);
decode_results results;
unsigned long current_ms;

unsigned long sign_post_left_star_ms;
unsigned long sign_post_right_star_ms;
const unsigned long sign_post_period = 666;
byte sign_post_left_enable = 0;
byte sign_post_right_enable = 0;

unsigned long go_start_ms;
const unsigned long go_period = 500;
byte go_enable = 0;

unsigned long back_start_ms;
const unsigned long back_period = 500;
byte back_enable = 0;

unsigned long left_start_ms;
const unsigned long left_period = 270;
byte left_enable = 0;

unsigned long right_start_ms;
const unsigned long right_period = 270;
byte right_enable = 0;

uint32_t code_go = 50190375;
uint32_t code_back = 50198535;
uint32_t code_left = 50165895;
uint32_t code_right = 50157735;


void setup() {
  Serial.begin(9600);
  irrecv.enableIRIn();
  pinMode(motor_left_A, OUTPUT);
  pinMode(motor_left_B, OUTPUT);
  pinMode(motor_right_A, OUTPUT);
  pinMode(motor_right_B, OUTPUT);
  pinMode(reset_button, INPUT);
  pinMode(pin_for_sign_post_left, OUTPUT);
  pinMode(pin_for_sign_post_right, OUTPUT);
  if (digitalRead(reset_button) == LOW) {
    reset();
  }
}

void go() {
  digitalWrite(motor_left_A, LOW);
  digitalWrite(motor_left_B, HIGH);
  digitalWrite(motor_right_A, LOW);
  digitalWrite(motor_right_B, HIGH);
}

void back() {
  digitalWrite(motor_left_A, HIGH);
  digitalWrite(motor_left_B, LOW);
  digitalWrite(motor_right_A, HIGH);
  digitalWrite(motor_right_B, LOW);
}

void left() {
  digitalWrite(motor_left_A, LOW);
  digitalWrite(motor_left_B, HIGH);
  digitalWrite(motor_right_A, HIGH);
  digitalWrite(motor_right_B, LOW);
}

void right() {
  digitalWrite(motor_left_A, HIGH);
  digitalWrite(motor_left_B, LOW);
  digitalWrite(motor_right_A, LOW);
  digitalWrite(motor_right_B, HIGH);
}

void stop() {
  digitalWrite(motor_left_A, LOW);
  digitalWrite(motor_left_B, LOW);
  digitalWrite(motor_right_A, LOW);
  digitalWrite(motor_right_B, LOW);
}

void sign_post_left() {
  if (sign_post_left_enable == 0x1 && sign_post_right_enable == 0x1 ) {
    sign_post_left_enable = 0x0;
    sign_post_right_enable = 0x0;
    digitalWrite(pin_for_sign_post_left, LOW);
    digitalWrite(pin_for_sign_post_right, LOW);
  }
  switch (sign_post_left_enable) {
      case 0x0 :
      sign_post_left_enable = 1;
      sign_post_right_enable = 0;
      break;
      case 0x1 :
      sign_post_left_enable = 0;
      sign_post_right_enable = 0;
      digitalWrite(pin_for_sign_post_left, LOW);
      digitalWrite(pin_for_sign_post_right, LOW);
      break;
  }
}

void sign_post_right() {
  if (sign_post_left_enable == 0x1 && sign_post_right_enable == 0x1 ) {
    sign_post_left_enable = 0x0;
    sign_post_right_enable = 0x0;
    digitalWrite(pin_for_sign_post_left, LOW);
    digitalWrite(pin_for_sign_post_right, LOW);
  }
  switch (sign_post_right_enable) {
      case 0x0 :
      sign_post_right_enable = 1;
      sign_post_left_enable = 0;
      break;
      case 0x1 :
      sign_post_right_enable = 0;
      sign_post_left_enable = 0;
      digitalWrite(pin_for_sign_post_right, LOW);
      digitalWrite(pin_for_sign_post_left, LOW);
      break;
  }
}

void sign_post_both() {
//  if (sign_post_left_enable == 0x1 || sign_post_right_enable == 0x1 ) {
//    sign_post_left_enable = 0x0;
//    sign_post_right_enable = 0x0;
//    digitalWrite(pin_for_sign_post_left, LOW);
//    digitalWrite(pin_for_sign_post_right, LOW);
//  }
  switch (sign_post_right_enable) {
      case 0x0 :
      sign_post_right_enable = 1;
      sign_post_left_enable = 1;
      break;
      case 0x1 :
      sign_post_right_enable = 0;
      sign_post_left_enable = 0;
      digitalWrite(pin_for_sign_post_right, LOW);
      digitalWrite(pin_for_sign_post_left, LOW);
      break;
  }
}

void reset() {
  Serial.println("Programowanie pilota");
  go();
  back();
  left();
  right();
  stop();
}



void loop() {
  if (irrecv.decode(&results)) {

  Serial.print("0x");
  Serial.println(results.value, HEX);
  //delay(250);


    // sprawdzanie kodow RC5
    switch (results.value) {

    // dol
      code_back = results.value;
      case 0x2FDF807 :
      Serial.println("back");
      Serial.println(results.value);
      back_enable = 1;
      back_start_ms = millis();
      back();
      break;

    // gora
      case code_go :
      Serial.println("go");
      Serial.println(results.value);
      Serial.println(code_go);

      go_enable = 1;
      go_start_ms = millis();
      go();
      break;

    // lewo
      case 0x2FD58A7 :
      Serial.println("left");
      Serial.println(results.value);
      left_enable = 1;
      left_start_ms = millis();
      left();
      break;

    //prawo
      case 0x2FD7887 :
      Serial.println("right");
      Serial.println(results.value);
      right_enable = 1;
      right_start_ms = millis();
      right();
      break;

    //kierunkowskaz lewy
      case 0x2FD807F :
      Serial.println("sign post left");
      sign_post_left();
      break;

    //kierunkowskaz prawy
      case 0x2FDC03F :
      Serial.println("sign post right");
      sign_post_right();
      break;

    //awaryjne
      case 0x2FD40BF :
      Serial.println("sign post both");
      sign_post_both();
      break;

    //stop
      case 0x2FD48B7 :
      stop();
      break;
    }

    irrecv.resume();
  }

// obsluga kierunkowskazu
  if (sign_post_left_enable == 0x1 || sign_post_right_enable == 0x1 ) {
    current_ms = millis();  //pobierz i zapisz do zmiennej liczbę milisekund jaka upłynęła od czasu włączenia Arduino
    if (current_ms - sign_post_left_star_ms >= sign_post_period)  //jeśli aktualna liczba milisekund po odjęciu startowych milisekund przekracza liczbę zadeklarowaną w zmiennej sign_post_period milisekund
    {
      if (sign_post_left_enable == 0x1) { digitalWrite(pin_for_sign_post_left, !digitalRead(pin_for_sign_post_left));  //przełącz stan kierunkowskazu
      }
      if (sign_post_right_enable == 0x1) { digitalWrite(pin_for_sign_post_right, !digitalRead(pin_for_sign_post_right));  //przełącz stan kierunkowskazu
      }
      sign_post_left_star_ms = current_ms;  //ustaw liczbę startowych milisekund na bieżącą wartość milisekund (od startu Arduino)
    }
  }

// obsluga jazdy do przodu
  if (go_enable == 0x1) {
    current_ms = millis();  //pobierz i zapisz do zmiennej liczbę milisekund jaka upłynęła od czasu włączenia Arduino
    if (current_ms - go_start_ms >= go_period)  //jeśli aktualna liczba milisekund po odjęciu startowych milisekund przekracza liczbę zadeklarowaną w zmiennej period milisekund
    {
      stop();
      go_enable = 0;
    }
  }


// obsluga jazdy do tyłu
  if (back_enable == 0x1) {
    current_ms = millis();  //pobierz i zapisz do zmiennej liczbę milisekund jaka upłynęła od czasu włączenia Arduino
    if (current_ms - back_start_ms >= go_period)  //jeśli aktualna liczba milisekund po odjęciu startowych milisekund przekracza liczbę zadeklarowaną w zmiennej period milisekund
    {
      stop();
      back_enable = 0;
    }
  }


// obsluga jazdy w prawo
  if (right_enable == 0x1) {
    current_ms = millis();  //pobierz i zapisz do zmiennej liczbę milisekund jaka upłynęła od czasu włączenia Arduino
    if (current_ms - right_start_ms >= right_period)  //jeśli aktualna liczba milisekund po odjęciu startowych milisekund przekracza liczbę zadeklarowaną w zmiennej period milisekund
    {
      stop();
      right_enable = 0;
    }
  }

// obsluga jazdy w lewo
  if (left_enable == 0x1) {
    current_ms = millis();  //pobierz i zapisz do zmiennej liczbę milisekund jaka upłynęła od czasu włączenia Arduino
    if (current_ms - left_start_ms >= left_period)  //jeśli aktualna liczba milisekund po odjęciu startowych milisekund przekracza liczbę zadeklarowaną w zmiennej period milisekund
    {
      stop();
      left_enable = 0;
    }
  }

}