add IR

platformio.ini

@@ -20,3 +20,4 @@ lib_deps =
   adafruit/Adafruit SSD1306@^2.5.16
   links2004/WebSockets@^2.7.3
   LiquidCrystal_I2C@^1.1.4
+  IRremote@^4.4.3

src/ir_input.cpp

@@ -0,0 +1,19 @@
+#include <Arduino.h>
+#include <IRremote.h>
+#include "ir_input.h"
+
+// ===== IR CONFIG =====
+#define IR_RECEIVE_PIN 14
+
+void irInit() {
+  IrReceiver.begin(IR_RECEIVE_PIN, ENABLE_LED_FEEDBACK);
+  Serial.println("IR receiver ready");
+}
+
+void irPoll() {
+  if (IrReceiver.decode()) {
+    Serial.print("IR HEX: 0x");
+    Serial.println(IrReceiver.decodedIRData.decodedRawData, HEX);
+    IrReceiver.resume();
+  }
+}

src/ir_input.h

@@ -0,0 +1,4 @@
+#pragma once
+
+void irInit();
+void irPoll();

src/main.cpp

@@ -10,6 +10,7 @@
 #include "web_server.h"
 #include "ws_server.h"
 #include "controller.h"
+#include "ir_input.h"
 
 void setup() {
   Serial.begin(115200);
@@ -21,6 +22,7 @@ void setup() {
   actuatorsInit();
   webServerInit();
   wsInit();
+  irInit();
 
   robot.lastCmdMs = millis();
 }
@@ -29,4 +31,5 @@ void loop() {
   webServerLoop();
   wsLoop();
   controllerUpdate();
+  irPoll();
 }