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[...] the pins are too tiny to plug into regular PCB. Could anyone suggest how we can wire the IrDA to En/Decoder?
You'll have to make a PCB, or use a different IrDA module:http://www.societyofrobots.com/electronics_irda_tutorial.shtml
If you had $90.00 to get three Arduinos, you have the capital to make a custom PCB - they're not that expensive. Moreover, using thin magnet wire, like Soeren mentioned, would work for your purposes. These days, it's not so easy to find through-hole parts - it's better to learn how to deal with SMD parts now rather than later.
I have 0 experience in design a custom PCB. What hardware/software is needed? or is there any good website that has such service?
Here is our current connection:Pin1 -- +5V Pin3 -- en/decoder TxPin4 -- en/decoder RxPin6 -- +5VPin8 -- 0VWe are not getting any readable data from UART on arduino. Is this the right way to interface? Do we need to connect other pins?IrDA pin layout[Pin 1] IRED Anode IRED anode, should be externally connected to VCC2[...]