CPX IR Range-Sensing Robot

This code powers a range-sensing IR-remote-driven robot with two motors...except that the code is incomplete in these ways!

• the IR remote doesn't actually control anything yet;
• it only runs one of the motors;
• the range sensor control code is pretty basic.

#include <Adafruit_CircuitPlayground.h>

#define NO_CODE_DETECTED 0
#define REPEAT -1
#define UP 0xFF629D
#define DOWN 0xFFA857
#define LEFT 0xFF22DD
#define RIGHT 0xFFC23D
#define OK 0xFF02FD

#define PIN_TRIG A6
#define PIN_ECHO A7

void setup() {
  // Initialize the circuit playground
  CircuitPlayground.begin();
  pinMode(PIN_TRIG, OUTPUT);
  pinMode(PIN_ECHO, INPUT);
  pinMode(A2, OUTPUT);
  pinMode(A3, OUTPUT);
  //pinMode(A4, OUTPUT);
  //pinMode(A5, OUTPUT);
  Serial.begin(9600);
  while (!Serial); // Wait until serial console is opened
  CircuitPlayground.irReceiver.enableIRIn(); // Start the receiver
  Serial.println("Ready to receive IR signals");
}

void loop() {
  //digitalWrite(A4, HIGH);
  //digitalWrite(A5, LOW);
  digitalWrite(PIN_TRIG, LOW);
  delayMicroseconds(2);
  digitalWrite(PIN_TRIG, HIGH);
  delayMicroseconds(10);
  digitalWrite(PIN_TRIG, LOW);
  digitalWrite(PIN_ECHO, LOW);
  int duration = pulseIn(PIN_ECHO, HIGH, 60000);
  float distance = duration / 2 * 0.0344;
  Serial.println(distance);
  if (distance > 0 && distance < 25) {
    digitalWrite(A2, LOW);
    digitalWrite(A3, HIGH);
  } else {
    digitalWrite(A2, HIGH);
    digitalWrite(A3, LOW);
  }
  if (CircuitPlayground.irReceiver.getResults()) {
    CircuitPlayground.irDecoder.decode();           //Decode it
    int value = CircuitPlayground.irDecoder.value;
    if (value == UP) {
      Serial.println("UP");
    } else if (value == DOWN) {
      Serial.println("DOWN");
    } else if (value == LEFT) {
      Serial.println("LEFT");
    } else if (value == RIGHT) {
      Serial.println("RIGHT");
    } else if (value == OK) {
      Serial.println("OK");
    }
    CircuitPlayground.irReceiver.enableIRIn();      // Restart receiver
  }
  delay(25);
}