From 8ca108d2e6f8a1eaeabc410eb1fcbb43b701b6eb Mon Sep 17 00:00:00 2001
From: Peter Wu <peter@lekensteyn.nl>
Date: Fri, 12 Jun 2015 10:37:13 +0200
Subject: Try to fix IR remote routine

Documented at
https://github.com/shirriff/Arduino-IRremote/wiki/IRremote-library-API
---
 Venus_Skeleton/Venus_Skeleton.ino | 38 +++++++++++++++-----------------------
 1 file changed, 15 insertions(+), 23 deletions(-)

diff --git a/Venus_Skeleton/Venus_Skeleton.ino b/Venus_Skeleton/Venus_Skeleton.ino
index 99be3fb..1a38c3e 100644
--- a/Venus_Skeleton/Venus_Skeleton.ino
+++ b/Venus_Skeleton/Venus_Skeleton.ino
@@ -389,26 +389,21 @@ void sensSampleGripper() {
 
 // sensor IR, beacon detection and recognition
 int sensIRRemote() {
-	int x = 0;
-	int LabFound = LOW;
-	for (int i = 1; i <= 10; i++)
-	{
-		x = 0;
-		do
-		{
-			if(irrecv.decode(&results))
-			{
-				irrecv.resume();
-			}
-			x++;
-			if( x == 5 )
-			{
-				LabFound = HIGH;
-				return LabFound;
+	int matches = 0;
+	for (int i = 0; i < 10; i++) {
+		if (irrecv.decode(&results)) {
+			// check for the parameters sent by IRbeacon.ino
+			if (results->decode_type == SONY &&
+					results->bits == 12 && results->value != 0xa90) {
+				matches++;
 			}
-		}     while(results.value, DEC == LCode);
+			irrecv.resume();
+		}
 	}
-	return LabFound;
+	DEBUG_PRINT(matches);
+	DEBUG_PRINT(" IRRemote matches\n");
+	// accept when half of the probes resulted in a match.
+	return matches >= 5;
 }
 
 void sensBeaconTurret() {
@@ -416,12 +411,9 @@ void sensBeaconTurret() {
 	// (creates triangle with centerOfRobot, centerOfSensor and Obstacle as its corners)
 	
 	if (timerTurret == 0) {
-		int i;
-		bool beacon = false;
+		bool beacon;
 		
-		i = sensIRRemote(); // SENSORDATA HERE
-		if (i == HIGH) 
-			beacon = true;
+		beacon = sensIRRemote(); // SENSORDATA HERE
 		
 		if (data.beacon_detected[counterTurret] != beacon) {
 			data.beacon_detected[counterTurret] = beacon;
-- 
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