Arduino Tank Car Kit Lesson 4:Control the Car Through IR Remote

Arduino Tank Car Kit Lesson 4:Control the Car Through IR Remote

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• I. Objective
• II. How it work
• III. Software Installation
• IV. Hardware Installation:
• V. Understand the code

I. Objective:

In this tutorial, we will use KOOKYE Smart tank car to make a simple remote controlled smart car. Once the car installation is completed, we will use a Infrared Remote to control the car movements including go forward, go back, left turn and right turn.

II. How it work

There is a IR receiver and remote control. The arduino board would translate the programs to the predefined behaviors once it receive the IR signals from remote control.

III. Software Installation:

Step 1: Install latest Arduino IDE (If you have Arduino IDE version after 1.1.16, please skip this step)
Download Arduino IDE from https://www.arduino.cc/en/Main/Software?setlang=en , then install the software.

Step 2: Install IRremote library into Arduino IDE (If you have already installed IRremote library, please skip this step)
Download IRremote library from  http://www.kookye.com/download/Arduino_Tank_Car_Kit/IRremote.zip, then import the library into Arduino IDE(Open Arduino IDE-> click Sketch->Include Library->Add .Zip Library)

Step 3:Download Lesson 4sample code from http://www.kookye.com/download/Arduino_Tank_Car_Kit/tank_robot_lesson4.zip , unzip the download zip file tank_robot_lesson4.zip, you will see a folder called tank_robot_lesson4.

Step 4: Connect UNO R3 board to PC with USB cable, Open Arduino IDE -> click file -> click Open -> choose code “tank_robot_lesson4.ino” in tank_robot_lesson4 folder, load the code into arduino.

Step 5:Choose corresponding board and port for your project,upload the sketch to the board.

IV. Understanding the Code:

Part 1: Define the button that you will be using on IR remote control. (If you use the lesson 1example code, the arduino IDE Serial Monitor will output its counterpart IR code.)

#define IR_ADVANCE       0x00FF18E7       //code from IR controller "▲" button
#define IR_BACK          0x00FF4AB5       //code from IR controller "▼" button
#define IR_RIGHT         0x00FF5AA5       //code from IR controller ">" button
#define IR_LEFT          0x00FF10EF       //code from IR controller "<" button
#define IR_SERVO         0x00FF38C7       //code from IR controller "OK" button
#define IR_OPENLED       0x00FFB04F       //code from IR controller "#" button
#define IR_CLOSELED      0x00FF6897       //code from IR controller "*" button
#define IR_BEEP          0x00FF9867       //code from IR controller "0" button

Part 2:The function on IR Remote Control

Button	Function
▲	go forward
▼	go back
>	turn right
<	turn left
OK	servo rotate
#	turn on LED
*	turn off LED
0	buzzer beep

Part 3: Define movement name for each button.

enum DN
{ 
  GO_ADVANCE, //go ahead
  GO_LEFT, //left turn
  GO_RIGHT,//right turn
  GO_BACK,//go back
  MOVE_SERVO,//move servo
  OPEN_LED,//open led
  CLOSE_LED,//close led
  BEEP,//control buzzer
  DEF
}Drive_Num=DEF;

Part 4:Decode the IR signal and translate button code into movment name. void do_IR_Tick()

void do_IR_Tick()

{
  if(IR.decode(&IRresults))
  {
    if(IRresults.value==IR_ADVANCE)
    {
      Drive_Num=GO_ADVANCE;
    }
    else if(IRresults.value==IR_RIGHT)
    {
       Drive_Num=GO_RIGHT;
    }
    else if(IRresults.value==IR_LEFT)
    {
       Drive_Num=GO_LEFT;
    }
    else if(IRresults.value==IR_BACK)
    {
        Drive_Num=GO_BACK;
    }
    else if(IRresults.value==IR_SERVO)
    {
        Drive_Num=MOVE_SERVO;
    }
    else if(IRresults.value==IR_OPENLED)
    {
      Drive_Num=OPEN_LED;
    }
    else if(IRresults.value==IR_CLOSELED)
    {
      Drive_Num=CLOSE_LED;
    }
    else if(IRresults.value==IR_BEEP)
    {
      Drive_Num=BEEP;
    }
    IRresults.value = 0;
    IR.resume();
  }
}

Part 5: Execute movement function as per movement name from Part 4.

void do_Drive_Tick()
{
    switch (Drive_Num) 
    {
      case GO_ADVANCE:
            go_ahead(10);JogFlag = true;JogTimeCnt = 1;JogTime=millis();break;//if GO_ADVANCE code is detected, then go advance
      case GO_LEFT:
            turn_left(10);JogFlag = true;JogTimeCnt = 1;JogTime=millis();break;//if GO_LEFT code is detected, then turn left
      case GO_RIGHT:
            turn_right(10);JogFlag = true;JogTimeCnt = 1;JogTime=millis();break;//if GO_RIGHT code is detected, then turn right
      case GO_BACK:
            go_back(10);JogFlag = true;JogTimeCnt = 1;JogTime=millis();break;//if GO_BACK code is detected, then backward
      case MOVE_SERVO:
            move_servo();JogFlag = true;JogTimeCnt = 1;JogTime=millis();break;//move servo
      case OPEN_LED:
            open_led(1),open_led(2);JogTime = 0;break;//open led
      case CLOSE_LED:
            close_led(1),close_led(2);JogTime = 0;break;//close led
      case BEEP:
            control_beep();JogTime = 0;break;//control beep
      default:break;
    }
    Drive_Num=DEF;
   //keep current moving mode for  200 millis seconds
    if(millis()-JogTime>=200)
    {
      JogTime=millis();
      if(JogFlag == true) 
      {
        stopFlag = false;
        if(JogTimeCnt <= 0) 
        {
          JogFlag = false; stopFlag = true;
        }
        JogTimeCnt--;
      }
      if(stopFlag == true) 
      {
        JogTimeCnt=0;
        go_stop();
      }
    }
}

V. Hardware Installation:

Step 1: Install expansion board on UNO R3 board.

Step 2: Move the wire connected to pinout(GND,VCC,S) in IR recevier to the counterpart pin in expansion board as the following picture.

Step 3: Turn the switch of expansion board to "1" and "2" position, as the following photo shows.

Step 4: Put two 12865 batteries in battery box and turn the swith of box to "ON". (If you have finished the above steps on lesson one, please skip these steps)
Step 5:

Press IR controller keys to control the car movements as per predefine code.

Note: Please check the wire connections if the tank car can not work as expected.

Youtube link--https://youtu.be/xc3YXAJL8mY

{:}{:zh}概述

在第二课中介绍了如何控制电机，这一课中我们会简介如何用红外遥控器控制坦克小车运动。

工作原理

坦克小车上有一个红外接收器，当遥控器按下按键，红外接收器会接收红外信号，arduino会把这个红外信号解码，每个按键对应一个不同的红外信号，当arduino接收到不同的红外信号后执行不同的操作，实现不同的功能。例如，arduino接收到遥控器上“1”对应的红外信号后坦克小车前进；接收到“2”对应的红外信号小车后退。

软件

下载http://www.kookye.com/download/car/tank_robot_lesson3.zip并解压文件，用arduino IDE打开tank_robot_lesson3.ino文件，下面对部分代码做简要说明。

#define IR_ADVANCE       0x00FF18E7       //code from IR controller "▲" button
#define IR_BACK          0x00FF4AB5       //code from IR controller "▼" button
#define IR_RIGHT         0x00FF5AA5       //code from IR controller ">" button
#define IR_LEFT          0x00FF10EF       //code from IR controller "<" button
#define IR_SERVO         0x00FF38C7       //code from IR controller "OK" button
#define IR_OPENLED       0x00FFB04F       //code from IR controller "#" button
#define IR_CLOSELED      0x00FF6897       //code from IR controller "*" button
#define IR_BEEP          0x00FF9867       //code from IR controller "0" button

上面的代码，把要用到按键的红外编码在软件中做如下定义，每个按键的红外编码可以烧录第一课中的代码后，对着红外接收器按遥控器按键，打开arduino IDE Serial Monitor就会打印出对应按键的红外编码。

在本课中我们用到的按键和按键功能如下表所示

按键名	对应功能
▲	前进
▼	后退
>	右转
<	左转
OK	旋转舵机
#	打开LED
*	关闭LED
0	蜂鸣器响

 

enum DN
{ 
  GO_ADVANCE, //go ahead
  GO_LEFT, //left turn
  GO_RIGHT,//right turn
  GO_BACK,//go back
  MOVE_SERVO,//move servo
  OPEN_LED,//open led
  CLOSE_LED,//close led
  BEEP,//control buzzer
  DEF
}Drive_Num=DEF;

为了增加代码的可读性，把每个按键的功能定义在枚举变量中。

void do_IR_Tick()
{
  if(IR.decode(&IRresults))
  {
    if(IRresults.value==IR_ADVANCE)
    {
      Drive_Num=GO_ADVANCE;
    }
    else if(IRresults.value==IR_RIGHT)
    {
       Drive_Num=GO_RIGHT;
    }
    else if(IRresults.value==IR_LEFT)
    {
       Drive_Num=GO_LEFT;
    }
    else if(IRresults.value==IR_BACK)
    {
        Drive_Num=GO_BACK;
    }
    else if(IRresults.value==IR_SERVO)
    {
        Drive_Num=MOVE_SERVO;
    }
    else if(IRresults.value==IR_OPENLED)
    {
      Drive_Num=OPEN_LED;
    }
    else if(IRresults.value==IR_CLOSELED)
    {
      Drive_Num=CLOSE_LED;
    }
    else if(IRresults.value==IR_BEEP)
    {
      Drive_Num=BEEP;
    }
    IRresults.value = 0;
    IR.resume();
  }
}

上面的函数用于解码红外信号，通过调用IR.decode(&IRresults)将红外信号解码结果存储在IRresults.value变量中，比较IRresults.value变量与预定义按键红外编码，如果相等，就把对应的功能代码赋值给枚举变量Drive_Num。

void do_Drive_Tick()
{
    switch (Drive_Num) 
    {
      case GO_ADVANCE:
            go_ahead(10);JogFlag = true;JogTimeCnt = 1;JogTime=millis();break;//if GO_ADVANCE code is detected, then go advance
      case GO_LEFT:
            turn_left(10);JogFlag = true;JogTimeCnt = 1;JogTime=millis();break;//if GO_LEFT code is detected, then turn left
      case GO_RIGHT:
            turn_right(10);JogFlag = true;JogTimeCnt = 1;JogTime=millis();break;//if GO_RIGHT code is detected, then turn right
      case GO_BACK:
            go_back(10);JogFlag = true;JogTimeCnt = 1;JogTime=millis();break;//if GO_BACK code is detected, then backward
      case MOVE_SERVO:
            move_servo();JogFlag = true;JogTimeCnt = 1;JogTime=millis();break;//move servo
      case OPEN_LED:
            open_led(1),open_led(2);JogTime = 0;break;//open led
      case CLOSE_LED:
            close_led(1),close_led(2);JogTime = 0;break;//close led
      case BEEP:
            control_beep();JogTime = 0;break;//control beep
      default:break;
    }
    Drive_Num=DEF;
   //keep current moving mode for  200 millis seconds
    if(millis()-JogTime>=200)
    {
      JogTime=millis();
      if(JogFlag == true) 
      {
        stopFlag = false;
        if(JogTimeCnt <= 0) 
        {
          JogFlag = false; stopFlag = true;
        }
        JogTimeCnt--;
      }
      if(stopFlag == true) 
      {
        JogTimeCnt=0;
        go_stop();
      }
    }
}

在do_Drive_Tick()函数中，判断Drive_Num变量的值并执行对应的功能函数。

void open_led(int led_num)
{
  if (led_num == 1)  digitalWrite(LED1,LOW);
  else digitalWrite(LED2,LOW);
}
void close_led(int led_num)
{
   if (led_num == 1)  digitalWrite(LED1,HIGH);
   else digitalWrite(LED2,HIGH);
}
/*******control buzzer*******/
void control_beep()
{
  digitalWrite(BUZZER,LOW),delay(100);
  digitalWrite(BUZZER,HIGH),delay(100);
}
/***move servo***/
void move_servo()
{
  int i;
   for(i = 0;i<180;i++){ head.write(i); delay(5); } for(i = 180;i>=0;i--){
     head.write(i);
     delay(5);
  }
  head.write(90);
}

上面的4个函数分别用于控制LED的打开、关闭、控制蜂鸣器响以及让舵机从0度转到180度，再从180度转到0度，最后回到90度。

测试

step 1 用usb线把坦克下车与pc连接起来，选择正确的板子型号和端口号，将程序烧录到arduino中

step 2 打开电池盒电源

step 3 将遥控器对着红外接收器按按键，如果所按按键是程序预先定义好的，小车将执行相应的功能函数；如果所按按键是程序未定义的，小车不做任何操作。

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