#include <IRremote.h>

#define IR_PIN       2 //红外线接收器 OUTPUT 信号接在 pin 2
#define IRM_L_PIN     A0//左红外避障
#define IRM_R_PIN     A1//右红外避障

#define MOTOR_R1_PIN  5//右电机1
#define MOTOR_R2_PIN  6//右电机2
#define MOTOR_L1_PIN  9//左电机1
#define MOTOR_L2_PIN  10//左电机2

#define BUZZ_PIN    13//蜂鸣器

#define AG_L_PIN    7//左循迹
#define AG_M_PIN    4//中循迹
#define AG_R_PIN    12//右循迹

 #define IR_ADVANCE       0x00FFA857       //前进---"+"
 #define IR_BACK          0x00FFE01F       //后退---"-"
 #define IR_RIGHT         0x00FFE21D       //右转---"CH+"
 #define IR_LEFT          0x00FFA25D       //左转---"CH-"
 #define IR_STOP          0x00FF629D       //停止---"CH"
 #define IR_turnsmallleft 0x00FF02FD       //维持原来状态---"NEXT"

enum DS
{
  MANUAL_DRIVE,//手动控制
  
}Drive_Status=MANUAL_DRIVE;

enum DN
{ 
  GO_ADVANCE, //前进
  GO_LEFT, //左转
  GO_RIGHT,//右转
  GO_BACK,//后退
  STOP_STOP,//停止
  DEF
}Drive_Num=DEF;

 IRrecv IR(IR_PIN);  // 定义 IRrecv 物件来接收红外线信号
 decode_results IRresults;   

bool stopFlag = true;//停止标志位
bool JogFlag = false;
uint16_t JogTimeCnt = 0;
uint32_t JogTime=0;


//电机控制
void go_Advance()  //双轮前进
{

 //  digitalWrite(MOTOR_R1_PIN, LOW);
 //  digitalWrite(MOTOR_R2_PIN, HIGH);
 //  digitalWrite(MOTOR_L1_PIN, LOW);
 //  digitalWrite(MOTOR_L2_PIN, HIGH);

  analogWrite(MOTOR_R1_PIN, 200);
  analogWrite(MOTOR_R2_PIN, 0);
  analogWrite(MOTOR_L1_PIN, 200);
  analogWrite(MOTOR_L2_PIN, 0);
}
void go_Left(int t=0)  //双轮左转
{

  // digitalWrite(MOTOR_R1_PIN, LOW);
  // digitalWrite(MOTOR_R2_PIN, HIGH);
  // digitalWrite(MOTOR_L1_PIN, HIGH);
  // digitalWrite(MOTOR_L2_PIN, LOW);

  analogWrite(MOTOR_R1_PIN, 0);
  analogWrite(MOTOR_R2_PIN, 200);
  analogWrite(MOTOR_L1_PIN, 200);
  analogWrite(MOTOR_L2_PIN, 0);
  delay(t);
}
void go_Right(int t=0)  //双轮右转
{
  // digitalWrite(MOTOR_R1_PIN, HIGH);
 //  digitalWrite(MOTOR_R2_PIN, LOW);
 //  digitalWrite(MOTOR_L1_PIN, LOW);
 //  digitalWrite(MOTOR_L2_PIN, HIGH);

  analogWrite(MOTOR_R1_PIN, 200);
  analogWrite(MOTOR_R2_PIN, 0);
  analogWrite(MOTOR_L1_PIN, 0);
  analogWrite(MOTOR_L2_PIN, 200);
  delay(t);
}
void go_Back(int t=0)  //双轮后退
{

  // digitalWrite(MOTOR_R1_PIN, HIGH);
 //  digitalWrite(MOTOR_R2_PIN, LOW);
 //  digitalWrite(MOTOR_L1_PIN, HIGH);
 //  digitalWrite(MOTOR_L2_PIN, LOW);

  analogWrite(MOTOR_R1_PIN, 0);
  analogWrite(MOTOR_R2_PIN, 200);
  analogWrite(MOTOR_L1_PIN, 0);
  analogWrite(MOTOR_L2_PIN, 200);
  delay(t);
}
void stop_Stop()    //双轮停止
{
  // digitalWrite(MOTOR_R1_PIN, LOW);
 //  digitalWrite(MOTOR_R2_PIN, LOW);
 //  digitalWrite(MOTOR_L1_PIN, LOW);
 //  digitalWrite(MOTOR_L2_PIN, LOW);

  analogWrite(MOTOR_R1_PIN, 0);
  analogWrite(MOTOR_R2_PIN, 0);
  analogWrite(MOTOR_L1_PIN, 0);
  analogWrite(MOTOR_L2_PIN, 0);
}
void go_Oleft()   //单轮左转
{
  // digitalWrite(MOTOR_R1_PIN, LOW);
 //  digitalWrite(MOTOR_R2_PIN, HIGH);
 //  digitalWrite(MOTOR_L1_PIN, LOW);
 //  digitalWrite(MOTOR_L2_PIN, LOW);

  analogWrite(MOTOR_R1_PIN, 200);
  analogWrite(MOTOR_R2_PIN, 0);
  analogWrite(MOTOR_L1_PIN, 0);
  analogWrite(MOTOR_L2_PIN, 0);
}
void go_Oright()   //单轮右转
{
  // digitalWrite(MOTOR_R1_PIN, LOW);
 //  digitalWrite(MOTOR_R2_PIN, LOW);
 //  digitalWrite(MOTOR_L1_PIN, LOW);
 //  digitalWrite(MOTOR_L2_PIN, HIGH);

  analogWrite(MOTOR_R1_PIN, 0);
  analogWrite(MOTOR_R2_PIN, 0);
  analogWrite(MOTOR_L1_PIN, 200);
  analogWrite(MOTOR_L2_PIN, 0);
}
void buzz_ON()   //蜂鸣器开
{
  digitalWrite(BUZZ_PIN, LOW);
}
void buzz_OFF()  //蜂鸣器关
{

  digitalWrite(BUZZ_PIN, HIGH);
}

//红外遥控控制
void do_IR_Tick()
{
  if(IR.decode(&IRresults))
  {
    if(IRresults.value==IR_ADVANCE)
    {
      Drive_Status=MANUAL_DRIVE;
      Drive_Num=GO_ADVANCE;
    }
    else if(IRresults.value==IR_RIGHT)
    {
      Drive_Status=MANUAL_DRIVE;
        Drive_Num=GO_RIGHT;
    }
    else if(IRresults.value==IR_LEFT)
    {
      Drive_Status=MANUAL_DRIVE;
        Drive_Num=GO_LEFT;
    }
    else if(IRresults.value==IR_BACK)
    {
      Drive_Status=MANUAL_DRIVE;
        Drive_Num=GO_BACK;
    }
    else if(IRresults.value==IR_STOP)
    {
      Drive_Status=MANUAL_DRIVE;
        Drive_Num=STOP_STOP;
    }
    IRresults.value = 0;
    IR.resume();
  }
}

//自动循迹
void start_AUTO_AG()
{

  int SL = digitalRead(AG_L_PIN);
  int SM = digitalRead(AG_M_PIN);
  int SR = digitalRead(AG_R_PIN);
  if (SM == HIGH)//中传感器在黑色区域
  {
    if (SL == HIGH && SR == LOW) // 左黑右白, 向左转弯
    {
      go_Oleft();
    }
    else if (SL == LOW && SR == HIGH) //左白右黑, 向右转弯
    {
      go_Oright();
    }
    else if (SL == LOW && SR == LOW) // 两侧均为白色, 直进
    {
      go_Advance();
    }
    else
    {
      go_Oleft();
    }
  }
  else // 中传感器在白色区域
  {
    if (SL == HIGH && SR == LOW)// 左黑右白, 快速左转
    {
      go_Oleft();
    }
    else if (SL == LOW && SR == HIGH) // 左白右黑, 快速右转
    {
      go_Oright();
    }
    else if (SL == HIGH && SR == HIGH) // 左黑右黑, 向左转弯
    {
      go_Oleft();
    }
    else // 都是白色, 停止
    {
      go_Back();
    }
  }
}

//小车电机控制
void do_Drive_Tick()
{
  if(Drive_Status == MANUAL_DRIVE)//手动控制模式
  {
    switch (Drive_Num) 
    {
      case GO_ADVANCE:go_Advance();JogFlag = true;JogTimeCnt = 1;JogTime=millis();break;//前进
      case GO_LEFT: go_Left();JogFlag = true;JogTimeCnt = 1;JogTime=millis();break;//左转
      case GO_RIGHT:  go_Right();JogFlag = true;JogTimeCnt = 1;JogTime=millis();break;//右转
      case GO_BACK: go_Back();JogFlag = true;JogTimeCnt = 1;JogTime=millis();break;//后退
      case STOP_STOP: stop_Stop();JogTime = 0;break;//停止
      default:break;
    }
    Drive_Num=DEF;
    //保持小车运动状态200ms
    if(millis()-JogTime>=200)
    {
      JogTime=millis();
      if(JogFlag == true) 
      {
        stopFlag = false;
        if(JogTimeCnt <= 0) 
        {
          JogFlag = false; stopFlag = true;
        }
        JogTimeCnt--;
      }
      if(stopFlag == true) 
      {
        JogTimeCnt=0;
        stop_Stop();
      }
    }
  }
}
//初始化
void init_GPIO()
{
  /*设置GPIO模式*/
  pinMode(MOTOR_R1_PIN, OUTPUT); 
  pinMode(MOTOR_R2_PIN, OUTPUT); 
  pinMode(MOTOR_L1_PIN, OUTPUT);  
  pinMode(MOTOR_L2_PIN, OUTPUT);
  
  stop_Stop();
  /*设置GPIO模式*/
  pinMode(AG_R_PIN, INPUT); 
  pinMode(AG_M_PIN, INPUT);
  pinMode(AG_L_PIN, INPUT); 
  pinMode(BUZZ_PIN, OUTPUT);
  digitalWrite(BUZZ_PIN, HIGH);//设置GPIO口电平
  digitalWrite(IR_PIN, HIGH); //设置GPIO口电平
  IR.enableIRIn();     // 启动红外线解码
}
//主函数
void setup()
{
  Serial.begin(9600);//波特率设置
  init_GPIO();  
}

/*循环*/
void loop()
{
  do_IR_Tick();
  do_Drive_Tick();
}