IR-Sketch

#include <IRremote.h>

#define M1 7
#define M2 8
#define M3 9
#define M4 2
#define M5 4
#define M6 3

int RECV_PIN = 12;
int command = 4;

const int DEFAULT_VAL = 80;
const int STOP_VAL = 0;

IRrecv irrecv(RECV_PIN);  //Objekt initialisieren für die IR Übertragung
decode_results results;

void setup(){
  irrecv.enableIRIn(); // Start the receiver
  Serial.begin(9600); //Serielle kommunikation mit 9600 Baud beginnen.

  //output für die Motoren des Antriebs
  pinMode(7, OUTPUT);
  pinMode(8, OUTPUT);
  pinMode(9, OUTPUT);
  pinMode(2, OUTPUT);
  pinMode(4, OUTPUT);
  pinMode(3, OUTPUT);

  //input für die Fernbedienung
  pinMode(RECV_PIN, INPUT);
}

void loop() {
  command = readCommand();

  //vorwärts fahren
  if (command == 0){
    Serial.println("vorwärts fahren");
    moveVehicle(HIGH, LOW, LOW, HIGH);
  }

  //rückwärts fahren
  if (command == 1){
    Serial.println("rückwärts fahren");
    moveVehicle(LOW, HIGH, HIGH, LOW);
  }

  //rechts fahren
  if (command == 2){
    Serial.println("rechts fahren");
    moveVehicle(LOW, HIGH, LOW, HIGH);
  }

  //links fahren
  if (command == 3){
    Serial.println("links fahren");
    moveVehicle(HIGH, LOW, HIGH, LOW);
  }

  //stop
  if (command == 4){
    Serial.println("stop!!!");
    analogWrite(M3, STOP_VAL);
    analogWrite(M6, STOP_VAL);
  }

  delay(250);
}

int readCommand(){
 int command = 4;
 if (irrecv.decode(&results)) {
  //Serial.println(results.value, HEX);
  //Serial.println(results.value, DEC);
  switch (results.value){
    case 16718055 : //vorwärts fahren
      command = 0;
    break;
    case 16730805 : //rückwärts fahren
      command = 1;
    break;
    case 16734885 : //rechts fahren
      command = 2;
    break;
    case 16716015 : //links fahren
      command = 3;
    break;
    case 16726215 : //stop!!!
      command = 4;
    break;
    }

  irrecv.resume(); // Receive the next value
 }
 return command;
}

void moveVehicle(int m1State, int m2State, int m4State, int m5State){
  // rechte Kette
  digitalWrite(M1, m1State);
  digitalWrite(M2, m2State);
  analogWrite(M3, DEFAULT_VAL);
  // linke Kette
  digitalWrite(M4, m4State);
  digitalWrite(M5, m5State);
  analogWrite(M6, DEFAULT_VAL);
}