bendns' repos / ArduinoStuff
arduino stuffs
Diffstat (limited to 'car_driver/arduino/infared.h')
-rw-r--r--car_driver/arduino/infared.h140
1 files changed, 140 insertions, 0 deletions
diff --git a/car_driver/arduino/infared.h b/car_driver/arduino/infared.h
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+/*
+ * IRremote: IRrecvDemo - demonstrates receiving IR codes with IRrecv
+ * An IR detector/demodulator must be connected to the input RECV_PIN.
+ * Version 0.1 July, 2009
+ * Copyright 2009 Ken Shirriff
+ * http://arcfn.com
+ */
+
+#include <IRremote.h>
+#include <Streaming.h>
+
+namespace Infared {
+#define RECV_PIN 2
+struct {
+
+} ir_map;
+#define NO_INPUT 0x00
+
+#define ESTOP 0xFFF807
+#define STOP 0xFF32CD
+#define UP 0xFF0AF5
+#define LEFT 0xFF22DD
+#define RIGHT 0xFF1AE5
+#define DOWN 0xFFF00F
+
+#define UP_LEFT 0xFF12ED
+#define UP_RIGHT 0xFF2AD5
+#define DOWN_LEFT 0xFFE01F
+#define DOWN_RIGHT 0xFF9A65
+
+#pragma region math
+inline void lerp(float &from, const float to, const float weight) { from = from + (to - from) * weight; }
+inline float lerpr(const float from, const float to, const float weight) { return from + (to - from) * weight; }
+static int clamp(long value, long minv, long maxv) {
+ if (value < minv)
+ return minv;
+ else if (value > maxv)
+ return maxv;
+ return value;
+}
+void kinda_round(float &n) {
+ if (n > .9)
+ n = 1;
+ else if (n < -.9)
+ n = -1;
+ else if (n > -.1 and n < .1)
+ n = 0;
+}
+inline int8_t mult(const float n) { return round(clamp(n * 100, -100, 100)); }
+#pragma endregion
+
+int8_t motors[2] = {0, 0};
+
+void map(const unsigned long cmd) {
+ static float forces = 0, torque = 0;
+
+ const float large_weight = .8, weight = .5, low_weight = .3, speed = 1;
+
+ switch (cmd) {
+ case ESTOP:
+ torque = 0;
+ forces = 0;
+ case NO_INPUT:
+ lerp(forces, 0, large_weight);
+ lerp(torque, 0, large_weight);
+ break;
+ case UP:
+ lerp(forces, +speed, weight);
+ break;
+ case LEFT:
+ lerp(torque, +speed, weight);
+ break;
+ case RIGHT:
+ lerp(torque, -speed, weight);
+ break;
+ case UP_LEFT:
+ lerp(forces, +speed, low_weight);
+ lerp(torque, -speed, low_weight);
+ break;
+ case UP_RIGHT:
+ lerp(forces, +speed, low_weight);
+ lerp(torque, +speed, low_weight);
+ break;
+ case DOWN:
+ lerp(forces, -speed, weight);
+ break;
+ case DOWN_LEFT:
+ lerp(forces, -speed, low_weight);
+ lerp(torque, -speed / 2, low_weight);
+ break;
+ case DOWN_RIGHT:
+ lerp(forces, -speed, low_weight);
+ lerp(torque, +speed / 2, low_weight);
+ break;
+
+ default:
+ break;
+ }
+ kinda_round(forces);
+ kinda_round(torque);
+ const float turn_amount = abs(torque) / 2.5;
+ const int8_t a = mult(lerpr(forces, torque, turn_amount)), b = mult(lerpr(forces, -torque, turn_amount));
+
+ if (forces > 0) {
+ motors[0] = a;
+ motors[1] = b;
+ } else {
+ motors[1] = a;
+ motors[0] = b;
+ }
+}
+
+IRrecv irrecv(RECV_PIN);
+
+decode_results results;
+unsigned long last_result_time = 0, last_real_result = 0;
+
+void begin() {
+ Serial.begin(9600);
+ irrecv.enableIRIn(); // Start the receiver
+}
+
+void loop() {
+ if (irrecv.decode(&results)) {
+ if (results.value == REPEAT)
+ results.value = last_real_result;
+ else
+ last_real_result = results.value;
+ map(results.value);
+ last_result_time = millis();
+ irrecv.resume();
+ } else if (not(motors[0] == 0 and motors[1] == 0) and millis() - last_result_time > 200)
+ // no results in a while (.2 seconds), lerpit down
+ map(NO_INPUT);
+}
+
+inline int8_t motor_a() { return motors[0]; }
+inline int8_t motor_b() { return motors[1]; }
+
+} // namespace Infared \ No newline at end of file