IRRobotTD

#include <boarddefs.h>
#include <IRremote.h>
#include <IRremoteInt.h>
#include <ir_Lego_PF_BitStreamEncoder.h>

const int RECV_PIN = 6;
IRrecv irrecv(RECV_PIN);
decode_results results;

const int m11 = 2;
const int m12 = 3;
const int m21 = 4;
const int m22 = 5;

void setup() {
  Serial.begin(9600);
  irrecv.enableIRIn();
  irrecv.blink13(true);
  pinMode(m11, OUTPUT);
  pinMode(m12, OUTPUT);
  pinMode(m21, OUTPUT);
  pinMode(m22, OUTPUT);
}

void loop() {
  if (irrecv.decode(&results)) {
    Serial.println(results.value, HEX);
    irrecv.resume();
    if (results.value != 0xFFFFFF) {
      if (results.value == 0xFF629D) {
        forward();
      } else if (results.value == 0xFFA857) {
        backward();
      } else if (results.value == 0xFF22DD) {
        left();
      } else if (results.value == 0xFFC23D) {
        right();
      } else if (results.value == 0xFF02FD) {
        stop();
      }
    }
    delay(10);
  }
}

void stop() {
  digitalWrite(m11, LOW);
  digitalWrite(m12, LOW);
  digitalWrite(m21, LOW);
  digitalWrite(m22, LOW);
}
void forward() {
  digitalWrite(m11, HIGH);
  digitalWrite(m12, LOW);
  digitalWrite(m21, HIGH);
  digitalWrite(m22, LOW);
}

void backward() {
  digitalWrite(m11, LOW);
  digitalWrite(m12, HIGH);
  digitalWrite(m21, LOW);
  digitalWrite(m22, HIGH);
}

void left() {
  digitalWrite(m11, LOW);
  digitalWrite(m12, HIGH);
  digitalWrite(m21, HIGH);
  digitalWrite(m22, LOW);
}

void right() {
  digitalWrite(m11, HIGH);
  digitalWrite(m12, LOW);
  digitalWrite(m21, LOW);
  digitalWrite(m22, HIGH);
}