void LeftMotor(int,int,int);
void RightMotor(int,int,int);
void NumaleeSong(void);
unsigned char ir_cmd=0;

//------------------ Interrupt service routine INT -----------------//
void interrupt(){
unsigned char i;               // Keep counter
if(INTCON.INTF)                // Check interrupt flag RB0 (Falling edge)
{
Delay_us(416);                 // Delay 1/2 of 1 bit timing
// (baudrate 1200 bps)
for(i=0;i<8;i++)               // Loop 8 times for keep data from ER-4
{
Delay_us(833);                // Delay of 1 bit timing
// (baudrate 1200 bps)
ir_cmd = ir_cmd>>1;           // Shitt bit 1 time
if((PORTB & 0x01)==1)         // Get logic @ RB0 = '1'?
ir_cmd = ir_cmd | 0x80;       // Inset bit data is '1'
}
Delay_us(833);                // Delay of 1 bit timing
// (baudrate 1200 bps)
INTCON.INTF =0;               // Clear interrupt flag
}
}
//------------------ Function for get character from Remote ---------//
unsigned char get_remote()
{
unsigned char _key=ir_cmd;  // Get character to buffer
ir_cmd=0;                   // Clear old data
return(_key);
// Return character from Remote
}

void main()
{
unsigned char key;                           // Save Remote Key Press
ANSELH.F4 = 0;
///////////////Left Motor Connection/////////
TRISD.F0 = 0;
TRISD.F1 = 0;
TRISC.F2 = 0;
///////////End Left Motor Connection/////////
ANSELH = 0x00;                              //Set Port B Logic Status
///////////////Right Motor Connection///////
TRISB.F1 = 0;
TRISB.F2 = 0;
TRISC.F1 = 0;
///////////End Right Motor Connection/////////
Lcd_Init(&PORTD);                          //LCD Connection
TRISB.F3 = 0;                              //LED Connection
Sound_Init(&PORTc,0);                      //Speaker Connection
while(1)
{
  Lcd_Cmd(LCD_CLEAR);
  key = get_remote();
  if(key=='a' || key=='A') //if press A then backward
  {
      Lcd_Out(1,4,"Backward");
      LeftMotor(0,1,1);
      RightMotor(0,1,1);
      Sound_Play(2000,500);
      Delay_ms(100);
      Sound_Play(2000,500);
  }
  else if(key=='b' || key=='B') //if press B then turn right
  {
      Lcd_Out(1,3,"Turn Right");
      LeftMotor(1,0,1);
      RightMotor(1,1,1);
  }
  else if(key=='c' || key=='C') //if press C then turn left
  {
      Lcd_Out(1,4,"Turn Left");
      LeftMotor(1,1,1);
      RightMotor(1,0,1);
  }
  else if(key=='d' || key=='D') //if press D then go straight
  {
      Lcd_Out(1,3,"Go Straight");
      LeftMotor(1,0,1);
      RightMotor(1,0,1);
  }
  else
  {
      Lcd_Out(1,3,"Stop !!!"); //if don't press any button then stop all motor
      LeftMotor(1,1,1);
      RightMotor(1,1,1);
  }
}
}

void LeftMotor(int x,int y,int z){
PORTD.F0 = x;
PORTD.F1 = y;
PORTC.F2 = z;
}
void RightMotor(int x,int y,int z){
PORTB.F1 = x;
PORTB.F2 = y;
PORTC.F1 = z;
}

void NumaleeSong(){
      Sound_Play(1975.5,250);
      Sound_Play(1760,250);
      Sound_Play(1568,250);
      Sound_Play(1760,250);
      Sound_Play(1975.5,250);
      Sound_Play(1975.5,250);
      Sound_Play(1975.5,250);
      Delay_ms(250);
      Sound_Play(1760.0,250);
      Sound_Play(1760.0,250);
      Sound_Play(1760.0,250);
      Delay_ms(250);
      Sound_Play(1975.5,250);
      Sound_Play(2349.3,250);
      Sound_Play(2349.3,250);
      Delay_ms(250);
      Sound_Play(1975.5,250);
      Sound_Play(1760,250);
      Sound_Play(1568,250);
      Sound_Play(1760,250);
      Sound_Play(1975.5,250);
      Sound_Play(1975.5,250);
      Sound_Play(1975.5,250);
      Delay_ms(250);
      Sound_Play(1760,250);
      Sound_Play(1760,250);
      Sound_Play(1975.5,250);
      Sound_Play(1568.0,250);
}