What should I set my IV to be ?
For any decent mode of operation, like AES-EAX or AES-CCM you want to not re-use a key-IV pair. That is different keys with the same IV is fine as is the same key with different IVs and different keys with different IVs. Beyond that if you can enforce the above restriction with a counter (or domain-separated counters, e.g. $2^{32}$ unique prefixes for the devices which independently count from $0$ up with their prefix) that is fine, if you can't then you probably want to just generate the IVs at random if possible.
You may want to note that CBC is not a decent mode of operation, forcing you to use unpredictable IVs.
What should be the key value ?
Keys should ideally be generated such that they are indistinguishable from random strings of the same length. This may involve a key-exchange (using symmetric or asymmetric cryptography) or other methods of key-derivation (e.g. using a password or key-based key deriviation function like Argon2 or HKDF).
In your specific scenario one idea would be let the master have a secret key $K$ and each device having a unique serial number. Then on deployment you use HKDF to derive two keys for each device using its serial number and the data flow direction and store the keys on the device. Then when you get a packet, you can simply re-derive and / or cache the specific keys on your master device.
One final warning: You really don't want to implement AES (or maybe even the mode) yourself because that's quite hard to do securely and with good performance. You really want to use a library for that instead, e.g. BearSSL or mbedTLS.
Oh and if you are doing transport encryption you probably want to consider using TLS (for TCP-like transport guarantees) or DTLS (for UDP-like transport guarantees) with pre-shared keys which handles all the encryption and authentication and IV management for you if you just supply it the shared key (only one this time, it will derive its own for each traffic direction).