#include <Servo.h>
Servo servoesq, servodir;
int irPin = 2;
int start_bit = 2200;
int bin_1 = 1000;
int bin_0 = 400;
void setup() {
  pinMode(irPin, INPUT);
  Serial.begin(9600);
  Serial.println("Waiting: ");
  servoesq.attach(10);
  servodir.attach(9);
  servoesq.write(89);
  servodir.write(89);
}
void loop() {
  int key = getIRKey();
  if (key != 0)
  {
    Serial.print("Key Recieved: ");
    switch (key)
    {
      case 146: Serial.print("Right");
        servoesq.write(180);
        servodir.write(150);
        break;
      case 147: Serial.print("Left");
        servoesq.write(0);
        servodir.write(10);
        break;
      case 148: Serial.print("Back");
        servoesq.write(180);
        servodir.write(10);
        break;
      case 165: Serial.print("Forward");
        servoesq.write(0);
        servodir.write(150);
        break;
      case 149:
        Serial.print("Stop");
        servoesq.write(89);
        servodir.write(89);
        break;
    }
    Serial.println();
  }
}
int getIRKey() {
  int data[12];
  int i;
  while (pulseIn(irPin, LOW) < start_bit);
  for (i = 0 ; i < 11 ; i++)
    data[i] = pulseIn(irPin, LOW);
  for (i = 0 ; i < 11 ; i++)
  {
    if (data[i] > bin_1)
      data[i] = 1;
    else if (data[i] > bin_0)
      data[i] = 0;
    else
      return -1;
  }
  int result = 0;
  for (i = 0 ; i < 11 ; i++)
  {
    if(data[i] == 1) result |= (!i);
    return result;
  }
}