Added lab 5 starter code

lab5/lab5_starter/lab5_starter.ino

+/* IRRemote teek vajab dekodeerimise makrot enne teegi lisamist */
+#define DECODE_SAMSUNG
+
+#include <IRremote.hpp>
+#include <Servo.h>
+
+#define BUTTON_PIN              2
+
+#define SONIC_ECHO_PIN          3
+#define SONIC_TRIG_PIN          4
+
+#define RIGHT_SERVO_PIN         5
+#define LEFT_SERVO_PIN          6
+
+#define LEFT_LED_PIN            7
+#define RIGHT_LED_PIN           8
+
+#define SERVO_MIN_PULSE      1300
+#define SERVO_MAX_PULSE      1700
+#define SERVO_STANDSTILL     1500
+
+Servo leftWheel;
+Servo rightWheel;
+
+bool robotEnabled = true;
+
+void setup()
+{
+  Serial.begin(9600);
+
+  /* Konfigureerime servomootorid */
+  leftWheel.attach(LEFT_SERVO_PIN, SERVO_MIN_PULSE, SERVO_MAX_PULSE);
+  rightWheel.attach(RIGHT_SERVO_PIN, SERVO_MIN_PULSE, SERVO_MAX_PULSE);
+   
+  SetWheels(SERVO_STANDSTILL, SERVO_STANDSTILL);
+}
+
+void loop()
+{
+  /* Kui robot on väljas, siis IR vastuvõttu ei lähe */
+  if (!robotEnabled)
+  {
+    return;
+  }
+
+  ReceiveIr();
+}
+
+void ReceiveIr(void)
+{
+  if (IrReceiver.decode()) 
+  {
+    if (IrReceiver.decodedIRData.protocol == SAMSUNG) 
+    {
+      IrReceiver.printIRResultShort(&Serial);
+
+      /* Edastame käsukoodi funktsiooni, mis selle lahendab */
+      ProcessCommand(IrReceiver.decodedIRData.command);
+    }
+
+    /* Jätkame IR vastuvõttu alles pärast käsu täitmist, vähendab korduste lugemist */
+    IrReceiver.resume();
+  }
+}
+
+void ProcessCommand(uint16_t cmd)
+{
+  /* Tuvastame puldilt vastuvõetud käsukoodi */
+  switch (cmd)
+  {
+    case /* Asenda käsukoodiga puldilt */:
+      /* Tegevused vastava käsu jaoks */
+    default:
+      break;
+  }
+}
+
+void MoveBack(uint16_t duration)
+{
+  SetWheels(1400, 1600);
+  delay(duration);
+}
+
+void MoveForward(uint16_t duration)
+{
+  SetWheels(1600, 1400);
+  delay(duration);
+}
+
+void SetWheels(int leftWheelImpulseLength, int rightWheelImpulseLength)
+{
+  leftWheel.writeMicroseconds(leftWheelImpulseLength);
+  rightWheel.writeMicroseconds(rightWheelImpulseLength);
+}
+
+float GetDistInCm() 
+{
+  /* Saadame ultrahelilaine välja, kestvus 10 us */
+  digitalWrite(SONIC_TRIG_PIN, HIGH);   
+  delayMicroseconds(10);                
+  digitalWrite(SONIC_TRIG_PIN, LOW);    
+
+  /* Loeme signaali peegeldumise aja */
+  uint16_t echoTime = pulseIn(SONIC_ECHO_PIN, HIGH);
+  
+  /* Tagastame aja teisendatud kauguseks */
+  return (echoTime / 58.0); 
+}
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