robotIR

#include <IRrecv.h>

// an IR detector/demodulator is connected to GPIO pin 2
uint16_t RECV_PIN = D3;
int kierunek = 1;
float Speed;
unsigned int ircode;

IRrecv irrecv(RECV_PIN);

decode_results results;

void setup() {
  Serial.begin(9600);
  irrecv.enableIRIn();  // Start the receiver

  pinMode(D1, OUTPUT);
  pinMode(D2, OUTPUT);
  pinMode(D5, OUTPUT);
  pinMode(D6, OUTPUT);
}

void loop() {
  if (irrecv.decode(&results)) {
    //dekodowanie
    ircode = results.value;
    Serial.println(ircode);
    irrecv.resume();  // Receive the next value
  }

//do przodu
      if (ircode == 16736925)
    {
        analogWrite(D1, Speed);
        digitalWrite(D2, LOW);

        analogWrite(D5, Speed);
        digitalWrite(D6, LOW);
    }

//do tyłu
     else if (ircode == 16754775)
    {
        digitalWrite(D1, LOW);
        analogWrite(D2, Speed);

        digitalWrite(D5, LOW);
        analogWrite(D6, Speed);
    }


//w prawo
     else if (ircode == 16761405)
    {
        digitalWrite(D1, LOW);
        digitalWrite(D2, LOW);

        analogWrite(D5, Speed);
        digitalWrite(D6, LOW);
    }

//w lewo
     else if (ircode == 16720605)
    {
        analogWrite(D1, Speed);
        digitalWrite(D2, LOW);

        digitalWrite(D5, LOW);
        digitalWrite(D6, LOW);
    }

//WYBORY PREDKOSCI

//speed1
     else if (ircode == 16738455)
    {
      Speed = 512;
    }

//speed2
     else if (ircode == 16750695)
    {
      Speed = 720;
    }

//speed3
       else if (ircode == 16756815)
    {
      Speed = 880;
    }

//speedfull
     else if (ircode == 16728765)
    {
      Speed = 1023;
    }

//MISC

//ignoreHold
     else if (ircode == 4294967295)
    {

    }

    else
    {
        analogWrite(D1, LOW);
        digitalWrite(D2, LOW);

        analogWrite(D5, LOW);
        digitalWrite(D6, LOW);
    }

  delay(100);
}