testing

#include <Wire.h>
#include <LiquidCrystal_I2C.h>
LiquidCrystal_I2C lcd(0x27,16,2);

// RemoteXY select connection mode and include library
#define REMOTEXY_MODE__HARDSERIAL

#include <RemoteXY.h>

// RemoteXY connection settings
#define REMOTEXY_SERIAL Serial
#define REMOTEXY_SERIAL_SPEED 9600


// RemoteXY configurate
#pragma pack(push, 1)
uint8_t RemoteXY_CONF[] =
  { 255,6,0,0,0,112,0,10,120,0,
  2,1,2,2,18,9,1,26,31,31,
  78,121,97,108,97,104,0,77,97,116,
  105,0,5,20,69,32,30,30,120,24,
  31,3,130,82,2,16,9,1,26,2,
  1,2,50,18,9,120,26,31,31,76,
  97,109,112,117,32,110,121,97,108,97,
  104,0,76,97,109,112,117,32,109,97,
  116,105,0,2,1,2,36,18,9,120,
  26,31,31,83,105,114,101,110,101,32,
  110,121,97,108,97,104,0,83,105,114,
  101,110,101,32,109,97,116,105,0 };

// this structure defines all the variables and events of your control interface
struct {

    // input variables
  uint8_t saklar; // =1 if switch ON and =0 if OFF
  int8_t joystick_1_x; // =-100..100 x-coordinate joystick position
  int8_t joystick_1_y; // =-100..100 y-coordinate joystick position
  uint8_t select_1; // =0 if select position A, =1 if position B, =2 if position C, ...
  uint8_t lampu; // =1 if switch ON and =0 if OFF
  uint8_t sirene; // =1 if switch ON and =0 if OFF

    // other variable
  uint8_t connect_flag;  // =1 if wire connected, else =0

} RemoteXY;

int Signal;
int Threshold = 550;
int count = 0;
int ledState1 = LOW;

unsigned long previousMillis1 = 0;
unsigned long previousMillis2 = 0;
unsigned long previousMillis3 = 0;

const long interval1 = 750;
const long interval2 = 3000;
const long interval3 = 1000;

/* defined the right motor control pins */
#define PIN_MOTOR_RIGHT_UP 7
#define PIN_MOTOR_RIGHT_DN 6
#define PIN_MOTOR_RIGHT_SPEED 10

/* defined the left motor control pins */
#define PIN_MOTOR_LEFT_UP 5
#define PIN_MOTOR_LEFT_DN 4
#define PIN_MOTOR_LEFT_SPEED 9

#define PIN_SAKLAR 13
#define PIN_LAMPU 11
#define PIN_SIRENE 12

/* defined two arrays with a list of pins for each motor */
unsigned char RightMotor[3] =
  {PIN_MOTOR_RIGHT_UP, PIN_MOTOR_RIGHT_DN, PIN_MOTOR_RIGHT_SPEED};
unsigned char LeftMotor[3] =
  {PIN_MOTOR_LEFT_UP, PIN_MOTOR_LEFT_DN, PIN_MOTOR_LEFT_SPEED};

/*
   speed control of the motor
   motor - pointer to an array of pins
   v - motor speed can be set from -100 to 100
*/
void Wheel (unsigned char * motor, int v)
{
  if (v>100) v=100;
  if (v<-100) v=-100;
  if (v>0) {
    digitalWrite(motor[0], HIGH);
    digitalWrite(motor[1], LOW);
    analogWrite(motor[2], v*2.55);
  }
  else if (v<0) {
    digitalWrite(motor[0], LOW);
    digitalWrite(motor[1], HIGH);
    analogWrite(motor[2], (-v)*2.55);
  }
  else {
    digitalWrite(motor[0], LOW);
    digitalWrite(motor[1], LOW);
    analogWrite(motor[2], 0);
  }
}

byte Eyes1[8] = {
  B11111,
  B10000,
  B10000,
  B10000,
  B10000,
  B10000,
  B10000,
  B11111
};

byte Eyes2[8] = {
  B11111,
  B00000,
  B00000,
  B11111,
  B11111,
  B00000,
  B00000,
  B11111
};

byte Eyes3[8] = {
  B11111,
  B00001,
  B00001,
  B00001,
  B00001,
  B00001,
  B00001,
  B11111
};

byte Sleep1[8] = {
  B00000,
  B00000,
  B00000,
  B11111,
  B11111,
  B00000,
  B00000,
  B00000
};

byte senyum1[8] = {
  B00000,
  B00000,
  B00001,
  B00011,
  B00110,
  B01100,
  B11000,
  B10000
};

byte senyum2[8] = {
  B00000,
  B00000,
  B11111,
  B11111,
  B00000,
  B00000,
  B00000,
  B00000
};

byte senyum3[8] = {
  B00000,
  B00000,
  B10000,
  B11000,
  B01100,
  B00110,
  B00011,
  B00001
};

byte senyummouth1[8] = {
  B10000,
  B11000,
  B01100,
  B00110,
  B00011,
  B00001,
  B00000,
  B00000
};

byte senyummouth2[8] = {
  B00000,
  B00000,
  B00000,
  B00000,
  B11111,
  B11111,
  B00000,
  B00000
};

byte senyummouth3[8] = {
  B00001,
  B00011,
  B00110,
  B01100,
  B11000,
  B10000,
  B00000,
  B00000
};

void setup() {
  lcd.begin();
  lcd.setBacklight(HIGH);

  pinMode (PIN_MOTOR_RIGHT_UP, OUTPUT);
  pinMode (PIN_MOTOR_RIGHT_DN, OUTPUT);
  pinMode (PIN_MOTOR_LEFT_UP, OUTPUT);
  pinMode (PIN_MOTOR_LEFT_DN, OUTPUT);

  pinMode (PIN_SAKLAR, OUTPUT);
  pinMode (PIN_LAMPU, OUTPUT);
  pinMode (PIN_SIRENE, OUTPUT);

  /* initialization module RemoteXY */
  RemoteXY_Init ();

  lcd.createChar(0, Eyes1);
  lcd.createChar(1, Eyes2);
  lcd.createChar(2, Eyes3);
  lcd.createChar(3, Sleep1);
  lcd.createChar(4, senyum1);
  lcd.createChar(5, senyum2);
  lcd.createChar(6, senyum3);
  lcd.createChar(7, senyummouth1);
  lcd.createChar(8, senyummouth2);
  lcd.createChar(9, senyummouth3);

  lcd.clear();
}

void loop() {
  unsigned long currentMillis = millis();

  RemoteXY_Handler ();

  if (RemoteXY.saklar!=0) {

    /* manage the right motor */
    Wheel (RightMotor, RemoteXY.joystick_1_y - RemoteXY.joystick_1_x);
    /* manage the left motor */
    Wheel (LeftMotor, RemoteXY.joystick_1_y + RemoteXY.joystick_1_x);

    lcd.setBacklight(HIGH);

    digitalWrite(PIN_SAKLAR, HIGH);

    if (RemoteXY.lampu!=0) {
      digitalWrite(PIN_LAMPU, HIGH);
    }
      else {
      digitalWrite(PIN_LAMPU, LOW);
    }

    if (RemoteXY.sirene!=0) {
      digitalWrite(PIN_SIRENE, HIGH);
    }
      else
    {
      digitalWrite(PIN_SIRENE, LOW);
    }

    if (RemoteXY.select_1==0) {
      if (currentMillis - previousMillis1 >= interval1) {
      previousMillis1 = currentMillis;
        lcd.clear();
        lcd.setCursor(0,0);
        lcd.write(byte(0));
        lcd.setCursor(1,0);
        lcd.write(byte(1));
        lcd.setCursor(2,0);
        lcd.write(byte(1));
        lcd.setCursor(3,0);
        lcd.write(byte(2));

        lcd.setCursor(6,1);
        lcd.write(byte(3));
        lcd.setCursor(7,1);
        lcd.write(byte(3));
        lcd.setCursor(8,1);
        lcd.write(byte(3));
        lcd.setCursor(9,1);
        lcd.write(byte(3));

        lcd.setCursor(12,0);
        lcd.write(byte(0));
        lcd.setCursor(13,0);
        lcd.write(byte(1));
        lcd.setCursor(14,0);
        lcd.write(byte(1));
        lcd.setCursor(15,0);
        lcd.write(byte(2));
      }
      else if (currentMillis - previousMillis2 >= interval2) {
        previousMillis2 = currentMillis;
        lcd.clear();
        lcd.setCursor(0,0);
        lcd.write(byte(3));
        lcd.setCursor(1,0);
        lcd.write(byte(3));
        lcd.setCursor(2,0);
        lcd.write(byte(3));
        lcd.setCursor(3,0);
        lcd.write(byte(3));

        lcd.setCursor(6,1);
        lcd.write(byte(3));
        lcd.setCursor(7,1);
        lcd.write(byte(3));
        lcd.setCursor(8,1);
        lcd.write(byte(3));
        lcd.setCursor(9,1);
        lcd.write(byte(3));

        lcd.setCursor(12,0);
        lcd.write(byte(3));
        lcd.setCursor(13,0);
        lcd.write(byte(3));
        lcd.setCursor(14,0);
        lcd.write(byte(3));
        lcd.setCursor(15,0);
        lcd.write(byte(3));
      }
    }
    else if (RemoteXY.select_1==1) {
      if (currentMillis - previousMillis3 >= interval3) {
        previousMillis3 = currentMillis;
        lcd.clear();
        lcd.setCursor(0,0);
        lcd.write(byte(4));
        lcd.setCursor(1,0);
        lcd.write(byte(5));
        lcd.setCursor(2,0);
        lcd.write(byte(5));
        lcd.setCursor(3,0);
        lcd.write(byte(6));

        lcd.setCursor(6,1);
        lcd.write(byte(7));
        lcd.setCursor(7,1);
        lcd.write(byte(8));
        lcd.setCursor(8,1);
        lcd.write(byte(8));
        lcd.setCursor(9,1);
        lcd.write(byte(9));

        lcd.setCursor(12,0);
        lcd.write(byte(4));
        lcd.setCursor(13,0);
        lcd.write(byte(5));
        lcd.setCursor(14,0);
        lcd.write(byte(5));
        lcd.setCursor(15,0);
        lcd.write(byte(6));
      }
    }
   }
   else {
     lcd.setBacklight(LOW);
     digitalWrite(PIN_SAKLAR, LOW);
     digitalWrite(PIN_LAMPU, LOW);
     digitalWrite(PIN_SIRENE, LOW);
     lcd.clear();
   }
}