Lab_interaccio/2014/beltran/beltran.ino

#include "IRremote.h"

const int relay[12] = {9, 8, 7, 6, 5, 4, 3, 2, 14, 15, 16, 17};
const int power_motor[6] = { relay[0], relay[2], relay[4], relay[6], relay[8], relay[10]};
const int turn_motor[6] = { relay[1], relay[3], relay[5], relay[7], relay[9], relay[11]};
const int fc[6] = { 31, 33, 35, 37, 39, 41};
#define PIN_IR 53

#define UP 0
#define DOWN 1
#define STOP 2

// inicializa la libreria de recepcion y envio de datos por el infrarrojo
IRrecv irrecv(PIN_IR); //Solo para el pin digital 3!!!
decode_results results;

void setup() {
  Serial.begin(115200);
  // initialize digital pin 13 as an output.
  for (int i=0; i<12; i++) pinMode(relay[i], OUTPUT);
  for (int i=0; i<6; i++) pinMode(fc[i], INPUT);
  for (int i=0; i<6; i++)  digitalWrite(power_motor[i], LOW);
  irrecv.enableIRIn(); // Start the receiver IR
//  digitalWrite(R0, HIGH);   // turn the LED on (HIGH is the voltage level)
//  delay(1000);
//  digitalWrite(R0, LOW);   // turn the LED on (HIGH is the voltage level)
}

int state_ant[6] = {STOP, STOP, STOP, STOP, STOP, STOP}; 
void motorIR(int number, int state, unsigned long time)
  {
    if (state==STOP) 
      {
        digitalWrite(power_motor[number], LOW);
        Serial.println("STOP");
      }
    else
      {
        if (state_ant[number]!=state)
          {
            digitalWrite(power_motor[number], LOW);
            delay(1000);
          }
        state_ant[number] = state;
        digitalWrite(turn_motor[number], state);
        digitalWrite(power_motor[number], HIGH);
        delay(1000);
        
//        if ((state==UP)&&(!digitalRead(fc[number]))) Serial.println("The motor is locked");
//        else
//        {
//          if (state==UP) Serial.println("UP");
//          else Serial.println("DOWN");
//          digitalWrite(turn_motor[number], state);
//          digitalWrite(power_motor[number], HIGH);
//          unsigned long time_temp=millis();
//          if (state==DOWN) 
//            {
//              while ((millis()-time_temp)<=time);
//              Serial.print("DOWN in ");
//              Serial.print(millis()-time_temp);
//              Serial.println("ms");
//            }
//          else 
//            {
//              while (((millis()-time_temp)<=time)&&(digitalRead(fc[number])));
//              Serial.print("UP in ");
//              Serial.print(millis()-time_temp);
//              Serial.println("ms");
//            }
//        }
        digitalWrite(power_motor[number], LOW);
      }
    
    
  }
void motor(int number, int state, unsigned long time)
  {
    if (state==STOP) 
      {
        digitalWrite(power_motor[number], LOW);
        Serial.println("STOP");
      }
    else
      {        
        if ((state==UP)&&(!digitalRead(fc[number]))) Serial.println("The motor is locked");
        else
        {
          if (state==UP) Serial.println("UP");
          else Serial.println("DOWN");
          digitalWrite(turn_motor[number], state);
          digitalWrite(power_motor[number], HIGH);
          unsigned long time_temp=millis();
          if (state==DOWN) 
            {
              while ((millis()-time_temp)<=time);
              Serial.print("DOWN in ");
              Serial.print(millis()-time_temp);
              Serial.println("ms");
            }
          else 
            {
              while (((millis()-time_temp)<=time)&&(digitalRead(fc[number])));
              Serial.print("UP in ");
              Serial.print(millis()-time_temp);
              Serial.println("ms");
            }
        }
        digitalWrite(power_motor[number], LOW);
      }
    
    
  }
// the loop function runs over and over again forever
int motor_act = 1;

void loop() {
  if (irrecv.decode(&results))
   {
//     if (results.value!=0xFFFFFFFF)
//      {
//        Serial.println(results.value, HEX);
        if ((results.value==0x801)||(results.value==0x1))
          {
            Serial.println("Motor 1");
            motor_act = 0;
          }
        else if ((results.value==0x802)||(results.value==0x2))
          {
            Serial.println("Motor 2");
            motor_act = 1;
          }
        else if ((results.value==0x803)||(results.value==0x3))
          {
            Serial.println("Motor 3");
            motor_act = 2;
          }
        else if ((results.value==0x804)||(results.value==0x4))
          {
            Serial.println("Motor 4");
            motor_act = 3;
          }
        else if ((results.value==0x805)||(results.value==0x5))
          {
            Serial.println("Motor 5");
            motor_act = 4;
          }
        else if ((results.value==0x806)||(results.value==0x6))
          {
            Serial.println("Motor 6");
            motor_act = 5;
          }
        else if ((results.value==0x820)||(results.value==0x20))
          {
            Serial.println("UP");
            motorIR(motor_act, UP, 0);
          }
        else if ((results.value==0x821)||(results.value==0x21))
          {
            Serial.println("DOWN");
            motorIR(motor_act, DOWN, 0);
          }
          
//      }
      irrecv.resume(); // Receive the next value
   }
//  digitalWrite(power_motor[0], HIGH);
//   motor(0, UP, 2000);
//   motor(0, DOWN, 2000);
   
//  digitalWrite(R0, HIGH);   // turn the LED on (HIGH is the voltage level)
//  delay(1000);
//  digitalWrite(R1, HIGH);   // turn the LED on (HIGH is the voltage level)
//  digitalWrite(R0, LOW);   // turn the LED on (HIGH is the voltage level)
//  delay(2000);  
//  
//  digitalWrite(R0, HIGH);   // turn the LED on (HIGH is the voltage level)
//  delay(1000);
//  digitalWrite(R1, LOW);    // turn the LED off by making the voltage LOW
//  digitalWrite(R0, LOW);   // turn the LED on (HIGH is the voltage level)
//  delay(2000);              // wait for a second

}