////////////////////////////////////////////////////////////////////////////////
// Official name: BolderbotMiniIRreceiver //
// Hardware platform: Bolderbot Mini //
// Pin connections: Arduino Mega 2560 //
// Created by: HARB rboek2@gmail.com november 2017 GPL copyrights //
// http://robotigs.nl/robotigs/includes/parts_header.php?idpart=10 //
// //
// 01 Bolderbot Mini Serial Monitor //
// It will show the Hello World on the serial monitor if RS232 is defined //
// defined in the software below and the USB cable is connected. The //
// on-board LED will toggle every second. //
// 02 Bolderbot Mini LED //
// This program first shows the onboard LED comming up and fade out with //
// PWM. Next the 3 colors will come up and fade out also using PWM. //
// 03 Bolderbot Mini Sound //
// This program assumes a KY006 loudspeaker connected to pin 6. //
// 04 Bolderbot Mini IR receiver //
// This program assumes an IR receiver module connected to pin 2. The //
// IRremote library assumes vect13 to be free but it is used by the TONE //
// command. So the TONE command cannot be used in combination with the //
// IR receiver. Beep command is no problem but consumes processor time. //
////////////////////////////////////////////////////////////////////////////////
// SET PRECOMPILER OPTIONS *****************************************************
// Initialse conditional compiling, uncomment to include, comment to exclude ---
// Do comment for runtime versions
#define RS232 //Uncomment to include Serial Monitor sections
// #ifdef RS232 //Only include these lines if the variable has been defined
//Set appropriate IR remote control to be used ---------------------------------
//#define Keyes //Choose IR Remote Control by uncommenting = Keyes
#define Provision //Choose IR Remote Control by uncommenting = Provision
// Define precompiler variables -----------------(Runs faster & doesn`t use RAM)
// Define PINS -----------------------------------------------------------------
#define RECV_PIN 2 //Connection of the IR remote TV control receiver
#define buzPin 6 //To which DIO pin is the passiv buzzer KY-006 connected
#define ledRedPin 44 //3 Colour LED, to which PWM pin RED is connected
#define ledBluPin 45 //3 Colour LED, to which PWM pin BLUE is connected
#define ledGrePin 46 //3 Colour LED, to which PWM pin GREEN is connected
// Define the needed header files for the precompiler, no charge if not used ---
#include <IRremote.h> //Do never use the default by the IDE but replace it
//DEFINE VARIABLES -------------------------------------------------------------
bool ledOnBoardVal = LOW; //You can chose HIGH-on or LOW-off for LED_BUILTIN
bool IRflagActive = false; //Has a TV remote key been pressed
long IRlastKey = ' '; //Last key received by Infra Red receiver
byte cmdEngines = 'D'; //The startup colour and the command to the engines
#ifdef Keyes //IR Remote Control Keyes
const long butRP = 4294967295UL; //Any button is continously pressed, REPEAT
const long butUp = 16736925UL; //Blue up arrow button, FORWARD
const long butDn = 16754775UL; //Blue down arrow button, BACK
const long butLf = 16720605UL; //Blue left arrow button, LEFT
const long butRt = 16761405UL; //Blue right arrow button, RIGHT
const long butOk = 16712445UL; //Red OK button, DISENGAGE
const long butMp = 16728765UL; //Red * (multiply) button, DISENGAGE
const long butNr = 16732845UL; //Red # (number) button, DISENGAGE
const long but0 = 16730805UL; //White 0 button, run program 0
const long but1 = 16738455UL; //White 1 button, run program 1
const long but2 = 16750695UL; //White 2 button, run program 2
const long but3 = 16756815UL; //White 3 button, run program 3
const long but4 = 16724175UL; //White 4 button, run program 4
const long but5 = 16718055UL; //White 5 button, run program 5
const long but6 = 16743045UL; //White 6 button, run program 6
const long but7 = 16716015UL; //White 7 button, run program 7
const long but8 = 16726215UL; //White 8 button, run program 8
const long but9 = 16734885UL; //White 9 button, run program 9
#endif //End of #ifdef Keyes IR Remote Control Keyes
#ifdef Provision //IR Remote Control Provision
const long butRP = 0xFFFFFFFFUL; //Any button is continously pressed, REPEAT
const long butUp = 2645382921UL; //Blue up arrow button, FORWARD
const long butDn = 1510218204UL; //Blue down arrow button, BACK
const long butLf = 1044084000UL; //Blue left arrow button, LEFT
const long butRt = 341443957UL; //Blue right arrow button, RIGHT
const long butOk = 2090285130UL; //Blue OK button, DISENGAGE
const long butMp = 4198925182UL; //Black -/-- (double) button, DISENGAGE
const long butNr = 3255896299UL; //Black AV button, DISENGAGE
const long but0 = 4251643239UL; //Black 0 button, run program 0
const long but1 = 2005671744UL; //Black 1 button, run program 1
const long but2 = 3075690975UL; //Black 2 button, run program 2
const long but3 = 1079910150UL; //Black 3 button, run program 3
const long but4 = 771752011UL; //Black 4 button, run program 4
const long but5 = 613775946UL; //Black 5 button, run program 5
const long but6 = 305207297UL; //Black 6 button, run program 6
const long but7 = 3916687738UL; //Black 7 button, run program 7
const long but8 = 2229941719UL; //Black 8 button, run program 8
const long but9 = 2280455024UL; //Black 9 button, run program 9
#endif //End of #ifdef Provision IR Remote Control Provision
//END OF PRECOMPILER OPTIONS ---------------------------------------------------
IRrecv irrecv(RECV_PIN); //Initialise interrupt pin IR receiver
decode_results results; //If something IR received,in this case: clear buffer
void setup() {
disable_jtag(); //Disable jtag to free port C, enabled by default
pinMode(LED_BUILTIN, OUTPUT); //Arduino boards contain an onboard LED_BUILTIN
pinMode(ledRedPin, OUTPUT); //Make the RED LED connection an output pin
pinMode(ledBluPin, OUTPUT); //Make the BLUE LED connection an output pin
pinMode(ledGrePin, OUTPUT); //Make the GREEN LED connection an output pin
test_LEDs(); //PWM fade in and fade out for all 4 LEDs on board
pinMode(buzPin, OUTPUT); //Sets KY-006 loudspeaker buzzer pin as output
beep(50); //Give 0-255 mSec an annoying beep with KY-012 active buzzer
#if defined(RS232) //Only compiled in if Serial Monitor must be included
Serial.begin(9600); //Nothing more needed for the Serial Monitor to function
Serial.println("Hello world"); //Print a message to test the serial monitor
#endif //End of conditional compiling
irrecv.enableIRIn(); //Start the IR receiver
} //End of setup
//interrupts();
void loop() { //KEEP ON RUNNING THIS LOOP FOREVER
readIRreceiver(); //Receives data from the IR remote control
toggle_ledOnBoard(); //Toggles the LED_BUILTIN on-board LED on or off
delay (100); //Test your patience here
//beep(50); //Give 0-255 mSec an annoying beep with KY-012 active buzzer
} //End of void loop() //KEEP ON RUNNING THIS LOOP FOREVER
//345678911234567892123456789312345678941234567895123456789612345678971234567898
void readIRreceiver(void) { //Receives data from the IR remote control
analogWrite(ledBluPin, 0); //Set LED to desired PWM value BLUE
if (irrecv.decode(&results)) { //If I did receive anything then lets check it
IRlastKey = results.value; //Read the value of the last received key
switch (IRlastKey) { //So what value did I receive from TV remote
case butRP: //Some button is being kept on pressed by user
analogWrite(ledBluPin, 25); //Set LED to desired PWM value BLUE
IRflagActive = true; //Engines will be released as soon as key is released
break; //Jump to the end of this switch
case butUp: //User has pressed the button up
cmdEngines = 'F'; //Set command for the motors to drive FORWARD
IRflagActive = true; //Engines will be released as soon as key is released
break; //Jump to the end of this switch
case butRt: //User has pressed the button right
cmdEngines = 'R'; //Set command for the motors to turn RIGHT
IRflagActive = true; //Engines will be released as soon as key is released
break; //Jump to the end of this switch
case butLf: //User has pressed the button left
cmdEngines = 'L'; //Set command for the motors to turn LEFT
IRflagActive = true; //Engines will be released as soon as key is released
break; //Jump to the end of this switch
case butDn: //User has pressed the button down
cmdEngines = 'B'; //Set command for the motors to turn BACKWARD
IRflagActive = true; //Engines will be released as soon as key is released
break; //Jump to the end of this switch
case butOk: //User has pressed the OK button
cmdEngines = 'D'; //Set command ro DISENGAGE
IRflagActive = false; //Engines will not be automatically released
break; //Jump to the end of this switch
case but0: //User has pressed the 0 button
cmdEngines = '0'; //Set command ro BREAK1
IRflagActive = false; //Engines will not be automatically released
break; //Jump to the end of this switch
case but1: //User has pressed the 1 button
cmdEngines = '1'; //Set command ro AUTORUN1
IRflagActive = false; //Engines will not be automatically released
break; //Jump to the end of this switch
case butMp: //User has pressed the Star / multiply button PANIC
cmdEngines = 'P'; //Set command for the motors to PANIC
IRflagActive = false; //Engines will not be automatically released
break; //Jump to the end of this switch
default://If button case matched, then this default case will be performed
cmdEngines = 'D'; //Set command to the motors DISENGAGE
break; //Jump to the end of this switch
} //End of switch (results.value) So what value did I receive from TV remote
#ifdef RS232 //Only include this part if the variable has been defined
Serial.println(results.value, HEX); //Handy to decode the remote control
#endif //End of Serial not compiled if precompiler variable was not set
irrecv.resume(); // Receive the next value
} else { //Meaning no key at all is pressed at the TV remote
if (IRflagActive == true) { //Special situation if repeated key was pressed
cmdEngines = 'D'; //Bring the engines to a halt by using DISENGAGE
IRflagActive = false; //Reset, so we know we already halted the engines
} //End of (flagActive == true)Special situation if repeated key was pressed
} //End of if (irrecv.decode(&results) receive anything then lets check it
} //Exit of readIRreceiver Receives data from the IR remote control
void test_LEDs(void){ //PWM fade in and fade out for all 4 LEDs on board *******
byte msWait = 2; //Test your patience during the LED test
byte brillance = 0; //Brightness of any color, just to test LEDs PWM
while (brillance<255){
analogWrite(LED_BUILTIN, brillance); //Set to desired PWM value LED_BUILTIN
brillance++;
delay (msWait);
}
while (brillance>0){
analogWrite(LED_BUILTIN, brillance); //Set to desired PWM value LED_BUILTIN
brillance--;
delay (msWait);
}
analogWrite(LED_BUILTIN, 0); //Set LED to desired PWM value = off LED_BUILTIN
while (brillance<255){
analogWrite(ledRedPin, brillance); //Set LED to desired PWM value RED
brillance++;
delay (msWait);
}
while (brillance>0){
analogWrite(ledRedPin, brillance); //Set LED to desired PWM value RED
brillance--;
delay (msWait);
}
analogWrite(ledRedPin, 0); //Set LED to desired PWM value = off RED
while (brillance<255){
analogWrite(ledBluPin, brillance); //Set LED to desired PWM value BLUE
brillance++;
delay (msWait);
}
while (brillance>0){
analogWrite(ledBluPin, brillance); //Set LED to desired PWM value BLUE
brillance--;
delay (msWait);
}
analogWrite(ledBluPin, 0); //Set LED to desired PWM value = off BLUE
while (brillance<255){
analogWrite(ledGrePin, brillance); //Set LED to desired PWM value GREEN
brillance++;
delay (msWait);
}
while (brillance>0){
analogWrite(ledGrePin, brillance); //Set LED to desired PWM value GREEN
brillance--;
delay (msWait);
}
analogWrite(ledGrePin, 0); //Set LED to desired PWM value = off GREEN
} //Exit test_LEDs -------------------------------------------------------------
void beep(byte ms) { //Create a beep with KY-006 active buzzer *****************
while (ms > 0){ //Timer of the duration of the beep
digitalWrite(buzPin, HIGH); //Push the speaker conus outward
delay(2); //Determins the fixed frequency
digitalWrite(buzPin, LOW); //Pull the speaker conus inward
delay(2); //Determins the fixed frequency
ms--; //Countdown untill we reached zero
} //Timer of the duration of the beep has been counted down to zero
} //Exit beep ------------------------------------------------------------------
void toggle_ledOnBoard(void){ //Toggles the LED_BUILTIN on-board LED on or off *
ledOnBoardVal = !ledOnBoardVal; //Toggle value
digitalWrite(LED_BUILTIN, ledOnBoardVal); //Set Arduino boards onboard LED
} //Exit toggle_ledBin ---------------------------------------------------------
void disable_jtag(void) { //Disable jtag to free port C, enabled by default ****
#if defined(JTD) //Not all AVR controller include jtag
MCUCR |= ( 1 << JTD ); //Write twice to disable
MCUCR |= ( 1 << JTD ); //So stutter once
#endif //End of conditional compiling
} //Exit jtag_disable ----------------------------------------------------------
////////////////////////////////////////////////////////////////////////////////
// PIN ALLOCATIONS TABLE ARDUINO MEGA 2560 //
// Board -Atmel- PIN - IDE - Function - External Connection FUNC //
// //
// CONNECTIONS RAILS TOP LEFT: DIGITAL PWM<~> ******************************* //
//? SCL - 28 - PC5 -19/A5- ADC5/SCL/PCINT13 - TWI //
//? SDA - 27 - PC4 -18/A4- ADC4/SDA/PCINT12 - TWI //
// AREF - 31 - REF - - AREF - REF //
// GND - 32 - GND - - GND - GND //
// 13 PWM - 26 - PB7 - 13 - OC0A/OC1C/PCINT17 - LED Arduino LED_BUILTIN PWM //
// 12 PWM - 18 - PB6 - 12 - OC1B/PCINT16 - Motorshield PWM //
// 11 PWM - 17 - PB3 - 11 - MOSI/OC2A/PCINT3 - Motorshield PWM //
// 10 PWM - 16 - PB2 - 10 - SS/OC1B/PCINT2 - Motorshield PWM //
// 9 PWM - 15 - PB1 - 9 - OC1A/PCINT1 - Motorshield PWM //
// 8 PWM - 14 - PB0 - 8 - PCINT0/CLK0/ICP1 - Motorshield DIO //
// //
// CONNECTIONS RAILS TOP MIDDLE: DIGITAL PWM<~> ***************************** //
// 7 PWM - 13 - PD7 - 7 - PCINT23/AIN1 - Motorshield PWM //
// 6 PWM - 12 - PD6 - 6 - PCINT22/OCA0/AIN0 - Motorshield M4=> Buzzer PWM //
// 5 PWM - 11 - PD5 - 5 - PCINT21/OC0B/T1 - Motorshield M3=> Free PWM //
// 4 PWM - 6 - PD4 - 4 - PCINT20/XCK/T0 - Motorshield PWM //
// 3 PWM - 5 - PD3 - 3 - PCINT19/OC2B/INT1 - Motorshield PWM //
// 2 PWM - 4 - PD2 - 2 - PCINT18/INT0 - IR TV remote receiver INT //
// 1 TX0 - 3 - PD1 - 1 - PCINT17/TXD - Serial monitor TX0 //
// 0 RX0 - 2 - PD0 - 0 - PCINT16/RCD - Serial Monitor RC0 //
// //
// CONNECTIONS RAILS TOP RIGHT: DIGITAL PWM<~> ****************************** //
// 14 TX3 - 13 - PD7 - 7 - PCINT23/AIN1 - DIO //
// 15 RX3 - 12 - PD6 - 6 - PCINT22/OCA0/AIN0 - PWM //
// 16 TX2 - 11 - PD5 - 5 - PCINT21/OC0B/T1 - Brains RX1 Yellow TX2 //
// 17 RX2 - 6 - PD4 - 4 - PCINT20/XCK/T0 - Brains TX1 Blue RX2 //
// 18 TX1 - 5 - PD3 - 3 - PCINT19/OC2B/INT1 - Speed encoder Right INT //
// 19 RX1 - 4 - PD2 - 2 - PCINT18/INT0 - Speed encoder Left INT //
// 20 SDA - 3 - PD1 - 1 - PCINT17/TXD - SDA Yellow SRF10 SDA //
// 21 SCL - 2 - PD0 - 0 - PCINT16/RCD - SCL White SRF10 SCL //
// //
// CONNECTIONS RAILS BOTTOM LEFT: POWER ************************************* //
// 5V - 7 - VCC - - VCC - VCC //
// RES - 1 - RES - - PCINT14/RESET - RES //
// 3.3V - - - - - //
// 5V - - - - - //
// GND - - - - - //
// GND - - - - - //
// Vin - - - - - //
// //
// CONNECTIONS RAILS BOTTOM CENTER: ANALOG IN ******************************* //
// A0 - 23 - PC0 -A0/14- ADC0/PCINT8 - ADC //
// A1 - 24 - PC1 -A1/15- ADC1/PCINT9 - ADC //
// A2 - 25 - PC2 -A2/16- ADC2/PCINT10 - ADC //
// A3 - 26 - PC3 -A3/17- ADC3/PCINT12 - ADC //
// A4 - 27 - PC4 -A4/18- ADC4/SDA/PCINT12 - TWI //
// A5 - 28 - PC5 -A5/19- ADC5/SCL/PCINT13 - TWI //
// //
// CONNECTIONS RAILS BOTTOM RIGHT: ANALOG IN ******************************** //
// A11 - 89 - PK0 - - ADC1 4/PCINT? - ADC //
// A12 = 88 = PK1 ADC15/PCINT? = ADC //
// A13 = 87 = PK2 ADC14/PCINT? = IR line follow OUT1 ADC //
// A15 = 86 = PK3 ADC15/PCINT? = IR line follow OUT2 ADC //
// A12 = 85 = PK4 ADC14/PCINT? = IR line follow OUT3 ADC //
// A13 = 84 = PK5 ADC15/PCINT? = IR line follow OUT4 ADC //
// A14 = 83 = PK6 ADC14/PCINT22 = Battery monitor H=1/2 6Vdc pack ADC //
// A15 = 82 = PK7 ADC15/PCINT23 = Battery monitor H=1/3 9Vdc battery ADC //
// //
// 20 = 44 = PD1 SDA/INT1 = Speed encoder Right TWI //
// 21 = 43 = PD0 SCL/INT0 = Speed encoder Left TWI //
// CONNECTIONS RAILS QUER RIGHT ********************************************* //
// 44 = 40 = PL5 OC5C = 3 Color led Red PWM //
// 45 = 39 = PL4 OC5B = 3 Color led Blue PWM //
// 46 = 38 = PL3 OC5A = 3 Color led Green PWM //
// 50 = 22 = PB3 MISO/PCINT3 = SPI //
// 51 = 21 = PB2 MOSI/PCINT2 = SPI //
// 52 = 20 = PB1 SCK/PCINT1 = SPI //
// 53 = 19 = PB1 SS/PCINT0 = SPI //
////////////////////////////////////////////////////////////////////////////////
//345678911234567892123456789312345678941234567895123456789612345678971234567898
// EEPROM MEMORY MAP: //
// Start End Number Description //
// 0000 0000 1 Never use this memory location to be AVR compatible //
////////////////////////////////////////////////////////////////////////////////
//345678911234567892123456789312345678941234567895123456789612345678971234567898
////////////////////////////////////////////////////////////////////////////////
// FUSES (can always be altered by using the STK500) //
// On-Chip Debug Enabled: off (OCDEN=0) //
// JTAG Interface Enabled: off (JTAGEN=0) //
// Preserve EEPROM mem through the Chip Erase cycle: On (EESAVE = 0) //
// Boot Flash section = 2048 words, Boot startaddr=$3800 (BOOTSZ=00) //
// Boot Reset vector Enabled, default address=$0000 (BOOTSTR=0) //
// CKOPT fuse (operation dependent of CKSEL fuses (CKOPT=0) //
// Brown-out detection level at VCC=2,7V; (BODLEVEL=1) //
// Ext. Cr/Res High Freq.; Start-up time: 16K CK + 64 ms (CKSEL=1111 SUT=11) //
// LOCKBITS (are dangerous to change, since they cannot be reset) //
// Mode 1: No memory lock features enabled //
// Application Protect Mode 1: No lock on SPM and LPM in Application Section //
// Boot Loader Protect Mode 1: No lock on SPM and LPM in Boot Loader Section //
////////////////////////////////////////////////////////////////////////////////