#include    //including libraries of I2C-LCD1602 liquid crystal 
#include               //including libraries of I2C
#include           //including libraries of remote control
#define RECV_PIN  12        //pin 12 of IR remoter control receiver
IRrecv irrecv(RECV_PIN);      //defining pin 12 of IR remoter control
decode_results results;         //cache of decode of IR remoter control
#define IR_Go       0x00ff629d //going forward
#define IR_Back     0x00ffa857  //going backward
#define IR_Left     0x00ff22dd  //turning left
#define IR_Right    0x00ffc23d  //turning right
#define IR_Stop     0x00ff02fd  //stop
#define IR_Servo_L  0x00ff6897  //motor turning left
#define IR_Servo_R  0x00ff9867  //motor turning right
#define IR_Speed_UP     0x00ffb04f //increasing speed
#define IR_Speed_DOWN   0x00ff30cf //decreasing speed
#define IR_XunJi_Mode   0x00ff18e7
#define IR_Self_Control  0x00ff7a85  //ultrasonic distance detecting 
#define IR_IR_Control  0x00ff10ef
#define IR_Bluetooth_Control  0x00ff38c7
#define IR_ESC      0x00ff52ad  //quitting from remote control
//////////////////////////////////////////////////
#define SensorLeft    6   //sensor left pin of line tracking module 
#define SensorMiddle  9   //sensor middle pin of line tracking module
#define SensorRight   11  //sensor right pin of line tracking module
unsigned char SL;        //state of left sensor of line tracking module
unsigned char SM;        //state of middle sensor of line tracking module
unsigned char SR;        //state of right sensor of line tracking module
int inputPin=A0;  // ultrasonic module   ECHO to A0
int outputPin=A1;  // ultrasonic module  TRIG to A1
unsigned char Bluetooth_val;       // ultrasonic module  TRIG to A1
LiquidCrystal_I2C lcd(0x27,16,2);   //defining liquid crystal
#define Lpwm_pin  5     //pin of controlling speed---- ENA of motor driver board
#define Rpwm_pin  10    //pin of controlling speed---- ENB of motor driver board
int pinLB=2;             //pin of controlling turning---- IN1 of motor driver board
int pinLF=4;             //pin of controlling turning---- IN2 of motor driver board
int pinRB=7;            //pin of controlling turning---- IN3 of motor driver board
int pinRF=8;            //pin of controlling turning---- IN4 of motor driver board
unsigned char Lpwm_val = 250; //initialized left wheel speed at 250
unsigned char Rpwm_val = 250; //initialized right wheel speed at 250
int Car_state=0;             //the working state of car
int servopin=3;              //defining digital port pin 3, connecting to signal line of servo motor
int myangle;                //defining variable of angle
int pulsewidth;              //defining variable of pulse width
unsigned char DuoJiao=60;    //initialized angle of motor at 60°
void Sensor_IO_Config()     //IO initialized function of three line tracking , all setting at input
{
  pinMode(SensorLeft,INPUT);
  pinMode(SensorMiddle,INPUT);
  pinMode(SensorRight,INPUT);
}
void Sensor_Scan(void) //function of reading-in signal of line tracking module 
{
  SL = digitalRead(SensorLeft);
  SM = digitalRead(SensorMiddle);
  SR = digitalRead(SensorRight);
}
void servopulse(int servopin,int myangle) //defining a function of pulse
{
pulsewidth=(myangle*11)+500; //converting angle into pulse width value at 500-2480 
digitalWrite(servopin,HIGH); //increasing the level of motor interface to upmost
delayMicroseconds(pulsewidth); //delaying microsecond of pulse width value
digitalWrite(servopin,LOW); //decreasing the level of motor interface to the least
delay(20-pulsewidth/1000);
}
void Set_servopulse(int set_val)
{
 for(int i=0;i<=10;i++)  //giving motor enough time to turn to assigning point
   servopulse(servopin,set_val); //invokimg pulse function
}
void M_Control_IO_config(void)
{
  pinMode(pinLB,OUTPUT); // /pin 2
  pinMode(pinLF,OUTPUT); // pin 4
  pinMode(pinRB,OUTPUT); // pin 7
  pinMode(pinRF,OUTPUT);  // pin 8
  pinMode(Lpwm_pin,OUTPUT);  // pin 11 (PWM) 
  pinMode(Rpwm_pin,OUTPUT);  // pin10(PWM)   
}
void Set_Speed(unsigned char Left,unsigned char Right) //function of setting speed
{
  analogWrite(Lpwm_pin,Left);
  analogWrite(Rpwm_pin,Right);
}
void advance()    //  going forward
    {
     digitalWrite(pinRB,LOW);  // making motor move towards right rear
     digitalWrite(pinRF,HIGH);
     digitalWrite(pinLB,LOW);  // making motor move towards left rear
     digitalWrite(pinLF,HIGH); 
     Car_state = 1; 
     show_state();   
    }
void turnR()        //turning right(dual wheel)
    {
     digitalWrite(pinRB,LOW);  //making motor move towards right rear
     digitalWrite(pinRF,HIGH);
     digitalWrite(pinLB,HIGH);
     digitalWrite(pinLF,LOW);  //making motor move towards left front
     Car_state = 4;
     show_state();
    }
void turnL()         //turning left(dual wheel)
    {
     digitalWrite(pinRB,HIGH);
     digitalWrite(pinRF,LOW );   //making motor move towards right front
     digitalWrite(pinLB,LOW);   //making motor move towards left rear
     digitalWrite(pinLF,HIGH);
     Car_state = 3;
     show_state();
    }    
void stopp()        //stop
    {
     digitalWrite(pinRB,HIGH);
     digitalWrite(pinRF,HIGH);
     digitalWrite(pinLB,HIGH);
     digitalWrite(pinLF,HIGH);
     Car_state = 5;
     show_state();
    }
void back()         //back up
    {
     digitalWrite(pinRB,HIGH);  //making motor move towards right rear     
     digitalWrite(pinRF,LOW);
     digitalWrite(pinLB,HIGH);  //making motor move towards left rear
     digitalWrite(pinLF,LOW);
     Car_state = 2;
     show_state() ;    
    }
void show_state(void)
{
  lcd.setCursor(0, 1);
   switch(Car_state)
   {
     case 1:lcd.print(" Go  ");Serial.print(" \r\n GO");
     break;
     case 2:lcd.print("Back ");Serial.print(" \r\n Back");
     break;
     case 3:lcd.print("Left ");Serial.print(" \r\n Left");
     break;
     case 4:lcd.print("Right");Serial.print(" \r\n Right");
     break;
     case 5:lcd.print("Stop ");Serial.print(" \r\n Stop"); 
     break;
     default:
     break;
   }
}              
void LCD1602_init(void)            //including initialized function of liquid crystal
{
 lcd.begin();  //invoking initialized function of LCD in LiquidCrystal_I2C.h  
  delay(10);  //delaying for 10 millisecond
  lcd.backlight(); //open backlight of LCD1602
  lcd.clear();    //clear screen
}  
void Show_V(unsigned char V)
{
     lcd.setCursor(11, 0);
     lcd.print("V=    ");
     lcd.setCursor(13, 0);
     lcd.print(V,DEC);
     Serial.print("\n Speed = ");
     Serial.print(V,DEC); 
}
void Show_DuoJiao(unsigned char Jiao)
{
     lcd.setCursor(6,1);
     lcd.print("C=    ");
     lcd.setCursor(8, 1);
     lcd.print(Jiao,DEC);
     Serial.print("\n JiaoDu = ");
     Serial.print(Jiao,DEC); 
}
void Xunji_Mode(void) //function of line tracking 
{
 lcd.setCursor(0, 0);  //setting cursor in the first row and column
 lcd.print("Xunji_Mode           ");
 Sensor_Scan();
 if (SM == HIGH)// middle sensor in black area
{
if (SL == LOW & SR == HIGH) // black on left, white on right, turn left
{
turnR();
}
else if (SR == LOW & SL == HIGH) // white on left, black on right, turn right
{
turnL();
}
else // white on both sides, going forward
{
advance();
}
}
else // middle sensor on white area
{
if (SL== LOW & SR == HIGH)// black on left, white on right, turn left
{
turnR();
}
else if (SR == LOW & SL == HIGH) // white on left, black on right, turn right
{
turnL();
}
else // all white, stop
{
back();
delay(100);
stopp() ; 
}
}
}
void Self_Control(void)//self-going, ultrasonic obstacle avoidance
{
   int H;
   lcd.setCursor(0, 0);  //첫 번째 행과 열에 커서를 놓습니다.
   lcd.print("Self_Ctr        ");
   Show_V(Lpwm_val);
   Set_servopulse(DuoJiao);
   Show_DuoJiao(DuoJiao); 
   H = Ultrasonic_Ranging(1);
   delay(300);   
   if(Ultrasonic_Ranging(1) < 35)         
   {
       stopp();              
       delay(100);
       back();               
       delay(50);
    }
           
  if(Ultrasonic_Ranging(1) < 60)        
      {
        stopp();  
        delay(100);            
        Set_servopulse(5);
        Show_DuoJiao(5);
        int L = ask_pin_L(2);
        delay(300);      
         Set_servopulse(177);
         Show_DuoJiao(177);
        int R = ask_pin_R(3);
        delay(300);      

        if(ask_pin_L(2) > ask_pin_R(3))   
        {
         back(); 
        delay(100);      
        turnL();
       delay(400);                  
       stopp();  
       delay(50);            
       Set_servopulse(DuoJiao);
       Show_DuoJiao(DuoJiao); 
       H = Ultrasonic_Ranging(1);
       delay(500); 
        }
        
      if(ask_pin_L(2)  <= ask_pin_R(3))   
      {
       back();  
       delay(100);  
       turnR(); 
       delay(400);   
       stopp();  
       delay(50);            
       Set_servopulse(DuoJiao);
       Show_DuoJiao(DuoJiao); 
       H = Ultrasonic_Ranging(1);
       delay(300);        
        }   
        if (ask_pin_L(2)  < 35 && ask_pin_R(3)< 35)   
        {
       stopp();            
       delay(50);
       back(); 
       delay(50);                   
        }          
      }
      else                      
      {
      advance();                
      }                 
}
int Ultrasonic_Ranging(unsigned char Mode)//초음파 거리 감지 기능, MODE  =1, 표시, 다른 상황에서 표시하지 않음

{ 
  int old_distance;
  digitalWrite(outputPin, LOW);  
  delayMicroseconds(2); 
  digitalWrite(outputPin, HIGH); 
  delayMicroseconds(10); 
  digitalWrite(outputPin, LOW);    
  int distance = pulseIn(inputPin, HIGH);  // reading the duration of high level
  distance= distance/58;   // Transform pulse time to distance   
  if(Mode==1){
         lcd.setCursor(11, 1);
         lcd.print("H=    ");
         lcd.setCursor(13, 1);
         lcd.print(distance,DEC);
         Serial.print("\n H = ");
         Serial.print(distance,DEC); 
         return distance;
  }
   else  return distance;
} 
int ask_pin_L(unsigned char Mode)    
  { 
  int old_Ldistance;
  digitalWrite(outputPin, LOW);  
  delayMicroseconds(2); 
  digitalWrite(outputPin, HIGH); 
  delayMicroseconds(10); 
  digitalWrite(outputPin, LOW);    
  int Ldistance = pulseIn(inputPin, HIGH); 
  Ldistance= Ldistance/58;   // Transform pulse time to distance   
  if(Mode==2){
         lcd.setCursor(11, 1);
         lcd.print("L=    ");
         lcd.setCursor(13, 1);
         lcd.print(Ldistance,DEC);
         Serial.print("\n L = ");
         Serial.print(Ldistance,DEC); 
         return Ldistance;
  }
   else  return Ldistance;
} 
int ask_pin_R(unsigned char Mode)   
   { 
  int old_Rdistance;
  digitalWrite(outputPin, LOW);  
  delayMicroseconds(2); 
  digitalWrite(outputPin, HIGH); // 
  delayMicroseconds(10); 
  digitalWrite(outputPin, LOW);    
  int Rdistance = pulseIn(inputPin, HIGH); 
  Rdistance= Rdistance/58;   // Transform pulse time to distance   
  if(Mode==3){
         lcd.setCursor(11, 1);
         lcd.print("R=    ");
         lcd.setCursor(13, 1);
         lcd.print(Rdistance,DEC);
         Serial.print("\n R = ");
         Serial.print(Rdistance,DEC); 
         return Rdistance;
  }
   else  return Rdistance;
} 

void IR_Control(void)   //remote control，when pressing“#”，it quitting from the mode
{
   unsigned long Key;
   lcd.setCursor(0,0);  //setting cursor in the first row and column
   lcd.print("IR_Ctr          ");
  while(Key!=IR_ESC)
  {
   if(irrecv.decode(&results))  //to judge whether serial port receive data
    {
     Key = results.value;
    switch(Key)
     {
       case IR_Go:advance();   //UP
       break;
       case IR_Back: back();   //back
       break;
       case IR_Left:turnL();   //Left    
       break;
       case IR_Right:turnR(); //Righ
       break;
       case IR_Stop:stopp();   //stop
       break;
       case IR_Servo_L: if(DuoJiao<=180){  //motor turning left
                  DuoJiao+=10;
                  Set_servopulse(DuoJiao);
                  Show_DuoJiao(DuoJiao);}             
       break;
      case IR_Servo_R: if(DuoJiao-10>=0){  //motor turning right 
                  DuoJiao-=10;
                  Set_servopulse(DuoJiao);
                  Show_DuoJiao(DuoJiao);} 
       break;
      case IR_Speed_UP:if(Rpwm_val+10<=250&&Rpwm_val+10<=250){  //increasing speed
                  Lpwm_val+=10; Rpwm_val+=10;
                  Set_Speed(Lpwm_val,Rpwm_val);
                  Show_V(Lpwm_val);
                  }
       break;
      case IR_Speed_DOWN:if(Rpwm_val-10>=0&&Rpwm_val-10>=0){  //decreasing speed
                  Lpwm_val-=10; Rpwm_val-=10;
                  Set_Speed(Lpwm_val,Rpwm_val);
                  Show_V(Lpwm_val);
                  }
       break;
       default: 
       break;      
     } 
     irrecv.resume(); // Receive the next value
    } 
  }
  lcd.clear();
  lcd.setCursor(0, 0);  //setting cursor in the first row and column
  lcd.print("  Wait  Signal  ");
  stopp();
}
void Bluetooth_Control() //Bluetooth remote control
{
   lcd.setCursor(0, 0);  //setting cursor in the first row and column
   lcd.print("BluetoothControl");
 
   if(Serial.available()) //to judge whether serial port receive data
    {
     Bluetooth_val=Serial.read();  //reading value of Bluetooth serial port, giving the value to val
    switch(Bluetooth_val)
     {
       case 'U':advance(); //UP
       break;
       case 'D': back();   //back
       break;
       case 'L':turnL();   //Left
       break;
       case 'R':turnR();  //Right
       break;
       case 'S':stopp();    //stop
       break;   
     }
    } 
}

void setup() 
{ 
   pinMode(servopin,OUTPUT);  //setting motor interface as output
   LCD1602_init();            //initializing 1602
   M_Control_IO_config();     //motor controlling the initialization of IO
   Set_Speed(Lpwm_val,Rpwm_val);  //setting initialized speed
   Set_servopulse(DuoJiao);       //setting initialized motor angle
   Sensor_IO_Config();            //initializing IO of line tracking module 
   irrecv.enableIRIn();           //starting receiving IR remote control signal
   pinMode(inputPin, INPUT);      //starting receiving IR remote control signal
   pinMode(outputPin, OUTPUT);    //IO of ultrasonic module
   Serial.begin(9600);            //initialized serial port , using Bluetooth as serial port, setting baud 
   lcd.setCursor(0, 0);           //setting cursor at 0.0
   lcd.print("  Wait  Signal  ");  //LCD printing character string

} 
void loop() 
{  
 
   if (irrecv.decode(&results)) 
   {//when receiving a button
      if(results.value == IR_XunJi_Mode) 
      { 
       while(IR_XunJi_Mode)
       { 
        Xunji_Mode();
       }   //pressing “OK” on remote controller, and entering remote control mode
      } 
      if(results.value == IR_Self_Control) 
       {
        while(IR_Self_Control)
        {
        Self_Control();  //pressing “OK” on remote controller, and entering remote control mode        
       } 
       }
      if(results.value == IR_IR_Control) 
       { 
        while(IR_IR_Control)
        {
        IR_Control();  //pressing “OK” on remote controller, and entering remote control mode        
       } 
       }
      if(results.value == IR_Bluetooth_Control) 
       {
        while(IR_Bluetooth_Control)
        {
        Bluetooth_Control();  //pressing “OK” on remote controller, and entering remote control mode
        }  
       } 
      irrecv.resume(); // Receive the next value  
    } 
  delay(0);
}

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