用红外传感器控制小车

#include <IRremote.h>
int remote=7;
int LA=14;
int LB=15;
int RA=16;
int RB=17;
int EN1=3;
int EN2=5;
long f=0x00FF02FD;
long b=0x00FF9867;
long l=0x00FFE01F;
long r=0x00FF906F;
long p=0x00FFA857;
IRrecv irrecv(remote);
decode_results results;


void setup()
{
  pinMode(remote,INPUT);
  pinMode(LA,OUTPUT);
  pinMode(LB,OUTPUT);
  pinMode(RA,OUTPUT);
  pinMode(RB,OUTPUT);
  pinMode(EN1,OUTPUT);
  pinMode(EN2,OUTPUT);
  irrecv.enableIRIn();
}
void loop()
{
  if (irrecv.decode(&results)) {
    irrecv.decode(&results);
    if (results.value==f) {
      forward(1);
    }
    else if (results.value==b) {
      back(1);
    }
    else if (results.value==l) {
      left(0.1);
    }
    else if (results.value==r) {
      right(0.1);
    }
    else if (results.value==p) {
      pause(1);
    }
    else {
      pause(1);
    }
    pause(1);
    irrecv.resume();
  }     
}


void forward(int a)
{
  analogWrite(EN1,150);
  digitalWrite(LA,HIGH);
  digitalWrite(LB,LOW);
  analogWrite(EN2,164);
  digitalWrite(RA,HIGH);
  digitalWrite(RB,LOW);
  delay(a*1000);
}


void back(float b)
{
  analogWrite(EN1,150);
  digitalWrite(LA,LOW);
  digitalWrite(LB,HIGH);
  analogWrite(EN2,188);
  digitalWrite(RA,LOW);
  digitalWrite(RB,HIGH);
  delay(b*1000);
}


void left(float c)
{
  analogWrite(EN1,0);
  digitalWrite(LA,LOW);
  digitalWrite(LB,LOW);
  analogWrite(EN2,200);
  digitalWrite(RA,HIGH);
  digitalWrite(RB,LOW);
  delay(c*1000);
}


void right(float d)  
{
  analogWrite(EN1,200);
  digitalWrite(LA,HIGH);
  digitalWrite(LB,LOW);
  analogWrite(EN2,0);
  digitalWrite(RA,LOW);
  digitalWrite(RB,LOW);
  delay(d*1000);
}


void pause(float e)
{
  analogWrite(EN1,150);
  digitalWrite(LA,LOW);
  digitalWrite(LB,LOW);
  analogWrite(EN2,188);
  digitalWrite(RA,LOW);
  digitalWrite(RB,LOW);
  delay(e*1000);
}