Arduino RC Car Code

IRRemote.h

#ifndef ROBOT_CONTROL_H
#define ROBOT_CONTROL_H

#include <ArxContainer.h>
#include <IRremote.hpp>

/*!
 * @brief Alias for uint8_t to enhance code readability.
 */
using uint8_t = u8;

/*!
 * @brief Macro to enhance readability when using a range-based for loop.
 */
#define in :

/*!
 * @brief Macro to create a const auto reference for range-based for loops.
 */
#define each const auto&

/*!
 * @brief Macro to create a range-based for loop.
 */
#define foreach(__loopover) for(const auto& __loopover)

/*!
 * @brief Define the IR receiver pin.
 */
#define IR_RECEIVE_PIN 8

/*!
 * @brief Define constants for forward and backward movements.
 */
#define FORWARD_MOVEMENT 1, 0
#define BACKWARD_MOVEMENT 0, 1

/*!
 * @brief The pin you write to to move the left wheel forwards.
 */
#define leftForwardPin 2
/*!
 * @brief The pin you write to to move the left wheel backwards.
 */
#define leftBackwardPin 3
/*!
 * @brief The pin you write to to move the right wheel forwards.
 */
#define rightForwardPin 4
/*!
 * @brief The pin you write to to move the right wheel backwards.
 */
#define rightBackwardPin 5

#define SP0 25 // Speed buttons
#define SP1 69
#define SP2 70
#define SP3 71
#define SP4 68
#define SP5 64
#define SP6 67
#define SP7 7
#define SP8 21
#define SP9 9

#define LEFTEYE_COMMAND 55
#define RIGHTEYE_COMMAND 56

#define LEFT_EYE_PIN 6
#define RIGHT_EYE_PIN 7

int* leftEyeState = &0;
int* rightEyeState = &0;



/*!
 * @brief Function to control the motors.
 *
 * @param leftforward PWM value for the left forward motor.
 * @param leftbackward PWM value for the left backward motor.
 * @param rightforward PWM value for the right forward motor.
 * @param rightbackward PWM value for the right backward motor.
 */
void motor(int leftforward, int leftbackward, int rightforward, int rightbackward);

/*!
 * @brief Map motor names to their corresponding pins.
 */
const arx::map<String, int> motorPins {
    {"leftForward", leftForwardPin},
    {"leftBackward", leftBackwardPin},
    {"rightForward", rightForwardPin},
    {"rightBackward", rightBackwardPin}
};

/*!
 * @brief The remote button to move forward.
 */
#define FORWARD 24
/*!
 * @brief The remote button to move backward.
 */
#define BACKWARD 82
/*!
 * @brief The remote button to turn left.
 */
#define TURN_LEFT 8
/*!
 * @brief The remote button to turn right.
 */
#define TURN_RIGHT 90
/*!
 * @brief The remote button to stop the car.
 */
#define STOP 28

/*!
 * @brief Default speed for motor control.
 */
int speed = 255;

/*!
 * @brief Setup function to initialize pins and IR receiver.
 */
void setup();

/*!
 * @brief Function to execute movement commands based on IR input.
 *
 * @param command The IR command received.
 */
void pushWheel(int command);

/*!
 * @brief Main loop to handle IR input and control the robot.
 */
void loop();

/*!
 * @brief Function to get the speed to set the car to.
 *
 * @param command The IR command received.
 * @returns The speed of the car.
*/
int speedButtons(int command);

/*!
 * @brief Function to set the speed of the car.
 *
 * @param speed The speed to set the car to, on a scale of 1 to 10.
 */
void setSpeed(int speed);


/*!
 * @brief Function to control the eyes.
 *
 * @param eyePin The pin to write to.
 * @param pinState The state of the pin. 0 for off, 1 for on. Pointer to an int.
 */
void eyes(int eyePin, int* pinState);

#endif // ROBOT_CONTROL_H

main.ino

#include "IRRemote.h"

void motor(int leftforward, int leftbackward, int rightforward, int rightbackward) {
    analogWrite(leftForwardPin, leftforward*speed);
    analogWrite(leftBackwardPin, leftbackward*speed);
    analogWrite(rightForwardPin, rightforward*speed);
    analogWrite(rightBackwardPin, rightbackward*speed);
}


void setup() {
      for(each pin in motorPins)
          pinMode(pin.second, OUTPUT);
      IrReceiver.begin(IR_RECEIVE_PIN, ENABLE_LED_FEEDBACK); // Start the receiver
      Serial.begin(9600);
}

void eyes(int eyePin, int* pinState) {
    if (*pinState) {
        digitalWrite(eyePin, LOW);
        *pinState = 0;
    } else {
        digitalWrite(eyePin, HIGH);
        *pinState = 1;
    }
}


void pushWheel(int command) {
    switch(command) {
        case FORWARD:
            motor(FORWARD_MOVEMENT, FORWARD_MOVEMENT);
            break;
        case BACKWARD:
            motor(BACKWARD_MOVEMENT, BACKWARD_MOVEMENT);
            break;
        case TURN_LEFT:
            motor(FORWARD_MOVEMENT, BACKWARD_MOVEMENT);
            break;
        case TURN_RIGHT:
            motor(BACKWARD_MOVEMENT, FORWARD_MOVEMENT);
            break;
        case STOP:
            motor(LOW, LOW, LOW, LOW);
            break;
        default:
            setSpeed(command);
            break;
    }
}

int speedButtons(int command) {
    switch(command) {
        case SP0: return 1;
        case SP1: return 2;
        case SP2: return 3;
        case SP3: return 4;
        case SP4: return 5;
        case SP5: return 6;
        case SP6: return 7;
        case SP7: return 8;
        case SP8: return 9;
        case SP9: return 10;
    }
}

void setSpeed(int command) {
    swtich(command){
        case LEFTEYE_COMMAND: sendEye(command);
            break;
        case RIGHTEYE_COMMAND: sendEye(command);
            break;
        default: speed = static_cast<int>((((speedButtons(command))*10.0)/100)*255);
            break;
    }
}

void sendEye(int command) {
    switch(command) {
        case LEFTEYE_COMMAND:
            eyes(LEFT_EYE_PIN, leftEyeState);
            break;
        case RIGHTEYE_COMMAND:
            eyes(RIGHT_EYE_PIN, rightEyeState);
            break;
    }
}

void loop() {
    if (IrReceiver.decode()) {
        uint16_t command = IrReceiver.decodedIRData.command;
            Serial.println(command);
            pushWheel(command);
        IrReceiver.resume(); }
}