#include <Wire.h>                //including the libraries of I2C
#include <IRremote.h>           // https://github.com/z3t0/Arduino-IRremote/archive/master.zip

int RECV_PIN = 12;
IRrecv irrecv(RECV_PIN);
decode_results results;
#define IR_Go      0x00ff629d
#define IR_Back    0x00ffa857
#define IR_Left    0x00ff22dd
#define IR_Right   0x00ffc23d
#define IR_Stop    0x00ff02fd
#define IR_ESC     0x00ff52ad

unsigned char Bluetooth_val;       //defining variable val

#define Lpwm_pin  5     //adjusting speed
#define Rpwm_pin  10    //adjusting speed

int pinLB = 2;   // defining pin2 left rear
int pinLF = 4;   // defining pin4 left front
int pinRB = 7;  // defining pin7 right rear
int pinRF = 8;  // defining pin8 right front

unsigned char Lpwm_val = 255;
unsigned char Rpwm_val = 255;

int Car_state = 0;

void M_Control_IO_config(void)
{
  pinMode(pinLB, OUTPUT); // pin 2
  pinMode(pinLF, OUTPUT); // pin 4
  pinMode(pinRB, OUTPUT); // pin 7
  pinMode(pinRF, OUTPUT); // pin 8
  pinMode(Lpwm_pin, OUTPUT); // pin 11 (PWM)
  pinMode(Rpwm_pin, OUTPUT); // pin 10 (PWM)
}
void Set_Speed(unsigned char Left, unsigned char Right)
{
  analogWrite(Lpwm_pin, Left);
  analogWrite(Rpwm_pin, Right);
}

void advance()     //  going forward
{
  digitalWrite(pinRB, LOW); // making motor move towards right rear
  digitalWrite(pinRF, HIGH);
  digitalWrite(pinLB, LOW); // making motor move towards left rear
  digitalWrite(pinLF, HIGH);
  Car_state = 1;
}

void turnR()        //turning right(dual wheel)
{
  digitalWrite(pinRB, LOW); //making motor move towards right rear
  digitalWrite(pinRF, HIGH);
  digitalWrite(pinLB, HIGH);
  digitalWrite(pinLF, LOW); //making motor move towards left front
  Car_state = 4;
}

void turnL()        //turning left(dual wheel)
{
  digitalWrite(pinRB, HIGH);
  digitalWrite(pinRF, LOW );  //making motor move towards right front
  digitalWrite(pinLB, LOW);  //making motor move towards left rear
  digitalWrite(pinLF, HIGH);
  Car_state = 3;
}

void stopp()         //stop
{
  digitalWrite(pinRB, HIGH);
  digitalWrite(pinRF, HIGH);
  digitalWrite(pinLB, HIGH);
  digitalWrite(pinLF, HIGH);
  Car_state = 5;
}

void back()          //back up
{
  digitalWrite(pinRB, HIGH); //making motor move towards right rear
  digitalWrite(pinRF, LOW);
  digitalWrite(pinLB, HIGH); //making motor move towards left rear
  digitalWrite(pinLF, LOW);
  Car_state = 2;
}


void IR_Control(void)
{
  unsigned long Key;
  while (Key != IR_ESC)
  {
    if (irrecv.decode(&results)) //judging if serial port receives data
    {
      Key = results.value;
      switch (Key)
      {
        case IR_Go: advance();  //UP
          break;
        case IR_Back: back();   //back
          break;
        case IR_Left: turnL();  //Left
          break;
        case IR_Right: turnR(); //Righ
          break;
        case IR_Stop: stopp();  //stop
          break;
        default:
          break;
      }
      irrecv.resume(); // Receive the next value
    }
  }
  stopp();
}


void setup()
{

  irrecv.enableIRIn(); // Start the receiver

  M_Control_IO_config();

  Set_Speed(Lpwm_val, Rpwm_val);

  Serial.begin(9600);   //initialized serial port , using Bluetooth as serial port, setting baud at 9600

  stopp();
}


void loop()
{

  if (irrecv.decode(&results)) {
    if (results.value == IR_Stop )IR_Control();
    irrecv.resume(); // Receive the next value
  }

  if (Serial.available()) //to judge whether the serial port receives the data.
  {
    Bluetooth_val = Serial.read(); //reading (Bluetooth) data of serial port,giving the value of val;
    switch (Bluetooth_val)
    {
      case 'U': advance(); //UP
        break;
      case 'D': back();   //back
        break;
      case 'L': turnL();  //Left
        break;
      case 'R': turnR(); //Right
        break;
      case 'S': stopp();   //stop
        break;
    }
  }
}