#include <Servo.h>
#include <IRremote.h>

// === Pins ===
#define IR_PIN 11
#define TRIG_PIN 8
#define ECHO_PIN 7
#define RED_LED 12
#define R_PIN A0
#define G_PIN A1
#define B_PIN A2

// === Objects ===
Servo servo1, servo2, servo3, servo4;
IRrecv irrecv(IR_PIN);
decode_results results;

// === Variables ===
long duration;
int distance;

// === Setup ===
void setup() {
  Serial.begin(9600);

  // Servos
  servo1.attach(3);
  servo2.attach(5);
  servo3.attach(6);
  servo4.attach(9);

  // LEDs
  pinMode(RED_LED, OUTPUT);
  pinMode(R_PIN, OUTPUT);
  pinMode(G_PIN, OUTPUT);
  pinMode(B_PIN, OUTPUT);

  // Ultrasonic
  pinMode(TRIG_PIN, OUTPUT);
  pinMode(ECHO_PIN, INPUT);

  // IR
  irrecv.enableIRIn();

  Serial.println("System Ready!");
}

// === Loop ===
void loop() {
  // Distance check
  distance = getDistance();
  Serial.print("Distance: ");
  Serial.println(distance);

  if (distance < 15) {
    stopServos();
    setRGB(255, 0, 0);  // Red warning
    digitalWrite(RED_LED, HIGH);
  } else {
    digitalWrite(RED_LED, LOW);
    setRGB(0, 255, 0);  // Green = safe
  }

  // Check for IR signal
  if (irrecv.decode(&results)) {
    Serial.print("IR Code: ");
    Serial.println(results.value, HEX);
    handleIR(results.value);
    irrecv.resume();  // Receive next signal
  }

  delay(100);
}

// === Ultrasonic Function ===
int getDistance() {
  digitalWrite(TRIG_PIN, LOW);
  delayMicroseconds(2);
  digitalWrite(TRIG_PIN, HIGH);
  delayMicroseconds(10);
  digitalWrite(TRIG_PIN, LOW);
  duration = pulseIn(ECHO_PIN, HIGH);
  int dist = duration * 0.034 / 2;
  return dist;
}

// === IR Remote Actions ===
void handleIR(unsigned long code) {
  // Change these codes to match your remote
  switch (code) {
    case 0xFFA25D:  // Power
      moveServos(0);
      break;
    case 0xFF629D:  // Up
      moveServos(45);
      break;
    case 0xFFE21D:  // Down
      moveServos(90);
      break;
    case 0xFF22DD:  // Left
      moveServos(135);
      break;
    case 0xFF02FD:  // Right
      moveServos(180);
      break;
    case 0xFFC23D:  // Play/Pause
      setRGB(random(255), random(255), random(255));
      break;
    default:
      break;
  }
}

// === Helper Functions ===
void moveServos(int pos) {
  servo1.write(pos);
  servo2.write(pos);
  servo3.write(pos);
  servo4.write(pos);
}

void stopServos() {
  servo1.detach();
  servo2.detach();
  servo3.detach();
  servo4.detach();
}

void setRGB(int r, int g, int b) {
  analogWrite(R_PIN, r);
  analogWrite(G_PIN, g);
  analogWrite(B_PIN, b);
}