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

#define trigPin 13
#define echoPin 12
#define led 7
#define led2 8

Servo myservo;
Servo myservo1;
Servo myservo2;

int pos = 0;
int IR_Recv = 3;
int pressed = 0;

IRrecv irrecv(IR_Recv);
decode_results results;


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

  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
  pinMode(led, OUTPUT);
  pinMode(led2, OUTPUT);

  myservo.attach(9);
  myservo1.attach(10);
  myservo2.attach(11);

  irrecv.enableIRIn();
  irrecv.blink13(true);
}



void operate_robot()
{
  long duration = 0, distance = 0;
  int pos = 0;

  attachInterrupt(1, res, CHANGE);
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);
  duration = pulseIn(echoPin, HIGH);
  distance = (duration/2) / 29.1;

  if(distance <= 20)
  {
    digitalWrite(led,HIGH);
    digitalWrite(led2,LOW);

    for(; pos < 180; pos++)
    {
      myservo.write(pos);
      myservo1.write(pos);
      myservo2.write(pos);

      delay(5);
    }

    for(pos = 180; pos > 0; pos--)
    {
      myservo.write(pos);
      myservo1.write(pos);
      myservo2.write(pos);

      delay(5);
    }
  }
  else if (distance > 20)
  {
    digitalWrite(led,LOW);
    digitalWrite(led2,HIGH);

    for(pos = 0; pos < 20; pos++)
    {
      myservo.write(pos);
      myservo1.write(pos);
      myservo2.write(pos);

      delay(5);
    }

    for(pos = 20; pos > 0; pos--)
    {
      myservo.write(pos);
      myservo1.write(pos);
      myservo2.write(pos);

      delay(5);
    }

  }

}
void res ()
{
  irrecv.resume();

}

void loop()
{
  if(pressed == 0)
  {
    if(irrecv.decode(&results))
    {
      if(results.value == 16753245)
      {
        pressed = 1;
        operate_robot();
      }
      else
      {
        irrecv.resume();
      }
    }
  }
  else if(results.value == 16753245)
  {
    operate_robot();
  }
}