#include <SoftwareSerial.h>
#include <IRremote.h>

#define PUMP 12
#define MOTOR_A_FORWARD 5
#define MOTOR_A_BACK 4
#define MOTOR_B_FORWARD 2
#define MOTOR_B_BACK 3
#define RX 10
#define TX 11
#define IR_RECEIVER 7
#define TRIG 8
#define ECHO 6

IRrecv irrecv(IR_RECEIVER);
decode_results results;

//SoftwareSerial nodeCommunication(RX, TX);
#define nodeCommunication Serial

void setup() {
  pinMode(RX, INPUT);
  pinMode(TX, OUTPUT);

  pinMode(TRIG, OUTPUT);
  pinMode(ECHO, INPUT);

  pinMode(PUMP, OUTPUT);

  pinMode(MOTOR_A_FORWARD, OUTPUT);
  pinMode(MOTOR_A_BACK, OUTPUT);
  pinMode(MOTOR_B_FORWARD, OUTPUT);
  pinMode(MOTOR_B_BACK, OUTPUT);

  nodeCommunication.begin(38400);
  nodeCommunication.println("Start");
  irrecv.enableIRIn();

}

void loop() {
  long duration, distance;
  digitalWrite(TRIG, LOW);
  delayMicroseconds(2);
  digitalWrite(TRIG, HIGH);
  delayMicroseconds(10);
  digitalWrite(TRIG, LOW);
  duration = pulseIn(ECHO, HIGH);
  distance = (duration / 2) / 29.1;

  if (nodeCommunication.available() > 0) {
    char signal = nodeCommunication.read();

    if (signal == '1') {

      while (!irrecv.decode(&results)) {

        digitalWrite(MOTOR_A_FORWARD, HIGH);
        digitalWrite(MOTOR_A_BACK, LOW);
        digitalWrite(MOTOR_B_FORWARD, LOW);
        digitalWrite(MOTOR_B_BACK, HIGH);
        delay(500);


      }
      irrecv.resume();

      digitalWrite(MOTOR_A_FORWARD, LOW);
      digitalWrite(MOTOR_A_BACK, LOW);
      digitalWrite(MOTOR_B_FORWARD, LOW);
      digitalWrite(MOTOR_B_BACK, LOW);
      delay(3000);
      digitalWrite(MOTOR_A_FORWARD, LOW);
      digitalWrite(MOTOR_A_BACK, HIGH);
      digitalWrite(MOTOR_B_FORWARD, HIGH);
      digitalWrite(MOTOR_B_BACK, LOW);

      if (distance < 5) {

        digitalWrite(MOTOR_A_FORWARD, LOW);
        digitalWrite(MOTOR_A_BACK, LOW);
        digitalWrite(MOTOR_B_FORWARD, LOW);
        digitalWrite(MOTOR_B_BACK, LOW);

        digitalWrite(PUMP, HIGH);
        delay(2000);
        digitalWrite(PUMP, LOW);

        digitalWrite(MOTOR_A_FORWARD, LOW);
        digitalWrite(MOTOR_A_BACK, HIGH);
        digitalWrite(MOTOR_B_FORWARD, LOW);
        digitalWrite(MOTOR_B_BACK, HIGH);
        delay(3000);

        digitalWrite(MOTOR_A_FORWARD, LOW);
        digitalWrite(MOTOR_A_BACK, LOW);
        digitalWrite(MOTOR_B_FORWARD, LOW);
        digitalWrite(MOTOR_B_BACK, LOW);

        delay(10000);
      }

    }
  }
}