#include <IRremote.h>
//the defintions
#define irpin A0
#define led LED_BUILTIN
#define enable_1 5
#define enable_2 6
#define enable_3 9
#define enable_4 11
#define forward_1 4
#define forward_2 2
#define forward_3 8
#define forward_4 A2
#define backward_1 3
#define backward_2 7
#define backward_3 10
#define backward_4 A1
IRrecv ir(irpin);
decode_results results;
//----------------------------------------------------------------------
void setup() {
  // put your setup code here, to run once:
  pinMode(enable_1, OUTPUT);
  pinMode(enable_2, OUTPUT);
  pinMode(enable_3, OUTPUT);
  pinMode(enable_4, OUTPUT);
  pinMode(forward_1, OUTPUT);
  pinMode(forward_2, OUTPUT);
  pinMode(forward_3, OUTPUT);
  pinMode(forward_4, OUTPUT);
  pinMode(backward_1, OUTPUT);
  pinMode(backward_2, OUTPUT);
  pinMode(backward_3, OUTPUT);
  pinMode(backward_4, OUTPUT);
  Serial.begin(9600);
  ir.enableIRIn();
}
//----------------------------------------------------------------------
void stop() {
  analogWrite(enable_1, 0);
  analogWrite(enable_2, 0);
  analogWrite(enable_3, 0);
  analogWrite(enable_4, 0);
}
//----------------------------------------------------------------------
void loop() {
  // put your main code here, to run repeatedly
  unsigned long code = 0;
  if (IrReceiver.decode()) {
    code = IrReceiver.decodedIRData.decodedRawData;
    Serial.println(code, HEX);
  }
  if (code == 0x9768FF00 ) { // Debug  Press key 0
  //if (code == 0xFF02FD) {   // original
    //this is to go forward
    Serial.println(IrReceiver.decodedIRData.decodedRawData, HEX);
    stop();
    digitalWrite(led, HIGH);
    analogWrite(enable_1, 255);
    analogWrite(enable_2, 255);
    analogWrite(enable_3, 255);
    analogWrite(enable_4, 255);
    digitalWrite(forward_1, HIGH);
    digitalWrite(forward_2, HIGH);
    digitalWrite(forward_3, HIGH);
    digitalWrite(forward_4, HIGH);
    digitalWrite(backward_1, LOW);
    digitalWrite(backward_2, LOW);
    digitalWrite(backward_3, LOW);
    digitalWrite(backward_4, LOW);
  }
  if (code == 0xCF30FF00 ) { // Debug   Press key 1
  //if (code == 0xFF22DD) {   // original
    //this is to go backward
    Serial.println(IrReceiver.decodedIRData.decodedRawData, HEX);
    stop();
    digitalWrite(led, HIGH);
    analogWrite(enable_1, 255);
    analogWrite(enable_2, 255);
    analogWrite(enable_3, 255);
    analogWrite(enable_4, 255);
    digitalWrite(forward_1, LOW);
    digitalWrite(forward_2, LOW);
    digitalWrite(forward_3, LOW);
    digitalWrite(forward_4, LOW);
    digitalWrite(backward_1, HIGH);
    digitalWrite(backward_2, HIGH);
    digitalWrite(backward_3, HIGH);
    digitalWrite(backward_4, HIGH);
  }
  if (code == 0xE718FF00 ) { // Debug   Press key 2
  //if (code == 0xFFC23D) {   // original
    Serial.println(IrReceiver.decodedIRData.decodedRawData, HEX);
    // and this is to stop
    stop();
    analogWrite(enable_1, 0);
    analogWrite(enable_2, 0);
    analogWrite(enable_3, 0);
    analogWrite(enable_4, 0);
    digitalWrite(forward_1, LOW);
    digitalWrite(forward_2, LOW);
    digitalWrite(forward_3, LOW);
    digitalWrite(forward_4, LOW);
    digitalWrite(backward_1, HIGH);
    digitalWrite(backward_2, HIGH);
    digitalWrite(backward_3, HIGH);
    digitalWrite(backward_4, HIGH);
  }
  ir.resume();
}