#include <IRremote.h>

#define A 8
#define B 9
#define C 10
#define D 11
#define ir 12

void setup(){
  Serial.begin(9600);
  IrReceiver.begin(ir);

  pinMode(A, OUTPUT);
  pinMode(B, OUTPUT);
  pinMode(C, OUTPUT);
  pinMode(D, OUTPUT);  
}

void loop(){
  if (IrReceiver.decode()) {
    IrReceiver.resume();
    int val = IrReceiver.decodedIRData.command;
    Serial.println(val);
    if (val == 144) {
      Serial.println("FORWARD STEPS");
      for (int i = 0; i < 75; i++) {
        F1();
        F2();
        F3();
        F4();
      }
}
else if (val == 224) {
      Serial.println("BACKWARD STEPS");
      for (int i = 0; i < 75; i++) {
        F4();
        F3();
        F2();
        F1();
      }
    }
  }
}
void F1() {
  digitalWrite(A, HIGH);
  digitalWrite(B, LOW);
  digitalWrite(C, LOW);
  digitalWrite(D, LOW);
  delay(3);
}

void F2() {
  digitalWrite(A, LOW);
  digitalWrite(B, HIGH);
  digitalWrite(C, LOW);
  digitalWrite(D, LOW);
  delay(3);
}

void F3() {
  digitalWrite(A, LOW);
  digitalWrite(B, LOW);
  digitalWrite(C, HIGH);
  digitalWrite(D, LOW);
  delay(3);
}

void F4() {
  digitalWrite(A, LOW);
  digitalWrite(B, LOW);
  digitalWrite(C, LOW);
  digitalWrite(D, HIGH);
  delay(3);
}