Strandbeest Remote

A strandbeest controlled with infrared as well as an ultraound device.

Sep 23, 2018

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animals

toys

remote control

Components and supplies

Breadboard (generic)

Ultrasonic Sensor - HC-SR04 (Generic)

Dual H-Bridge motor drivers L298

IR Transceiver (Generic)

Arduino Uno Leonardo prototyping shield

Arduino UNO

Tools and machines

Soldering iron (generic)

Apps and platforms

Arduino IDE

Project description

Code

IrRemote code

arduino

1#include <IRremote.h>
2#include <NewPing.h> // to avoid compiling errors   in combination with the use of the IRremote library, you should set the '#define   TIMER_ENABLED' in this header file to false;
3                     // this was   for a while a major headache. Eventually the author, Tim Eckel, provided the answer   in of the arduino forums. Thanks, M8!
4
5// Finite State Machine implementation   using a switch statment used by the infrared remote control
6#define IRForward   2
7#define IRForwardAvoid 12 // 26? = FR
8#define IRRight 6 
9#define IRRightAvoid   16 //64? = RL
10#define IRBack 8
11#define IRLeft 4 
12#define IRLeftAvoid 14   // 46? = LR
13#define IRStop 5
14#define IRStopAvoid 15 //58? = SB
15
16  //   secundary transition states
17  // StateID can be calculated by (10*currentDirection+targetDirection)
18   // the mnemonic is tin the same way a simple combination of current- and target   direction
19  
20#define FS 25 // IRForward -> IRSTOP
21#define BS 85 // IRBack     -> IRStop
22#define LS 45 // Left      -> Stop
23#define RS 65 // Right     ->   Stop
24#define SF 52 // IRStop    -> IRForward
25#define SB 58 // IRStop    ->   IRBack
26#define SL 54 // Stop      -> Left
27#define SR 56 // Stop      -> Right
28#define   FR 26 // etc.
29#define FB 28
30#define FL 24
31#define RF 62
32#define BF 82
33#define   LF 42
34#define BL 84
35#define BR 86
36#define LB 48
37#define RB 68
38#define   RL 64
39#define LR 46
40
41// used by single motors
42#define ForwardStop 25
43#define   BackwardStop 25
44#define StopForward 52
45#define StopBackward 58
46
47//pindefines
48
49//motor   A, in my case the left one
50#define Ena  10 //Enable, and speed control
51#define   a1   8 // turning direction HIGH or LOW  or LOW. HIGH HIGH is nonsense. LOW LOW   makes the motor stop.
52#define a2   7 // turning direction LOW  or HIGH or LOW
53
54#define   Enb  9 //Enable, and speed control
55#define b1   4
56#define b2   6
57// A word   to the wise. Do not use arduino ports 3 and 11 in situations where PFM on multiple   devices, even if only a LED is necessary. 
58// It won't work. Hence the curious   use of the enable ports
59
60#define LEDpin 14     // A0 Infrarood
61#define   TrigPin 16    // A1 ultrasound
62#define EchoPin 15    // A2 ultrasound
63#define   redLED 5      // redLED must be PFM enabled ...
64#define greenLED 12   // green   LED on/off only
65#define BAUDRATE 9600 // debugging
66
67//constants
68const   int safeDistance=15;
69const unsigned int maxDistance = 200;
70const unsigned   int DCMaxSpeed = 255;
71const unsigned int DCMinSpeed = 32;
72const int SpeedStep   = 4;
73
74const long Button_DEC_code[21] = 
75  {
76     16753245,     16736925,      16769565,
77     16720605,     16712445,     16761405,
78     //vol-,vol+,eq
79      16769055,     16754775,     16748655,
80     //0,100+,200+
81     16738455,      16750695,     16756815,
82     // the number buttons
83     16724175,     16718055,      16743045,
84     16716015,     16726215,     16734885,
85     16728765,     16730805,      16732845
86  };
87const unsigned long ff_code[21] = // unknown IR device
88   {
89    3810010651,5316027,4001918335,
90    1386468383,3622325019,553536955,
91     4034314555,2747854299,3855596927,
92    3238126971,2538093563,4039382595,
93     2534850111,1033561079,1635910171,
94    2351064443,1217346747,71952287,
95     851901943,465573243,1053031451
96  };
97
98
99// global variables
100
101int   IRstate=IRStop; 
102int changeState=0;
103boolean watchit=false; // obstruction   detected
104boolean USaan=false;
105unsigned int currentDCSpeed = 168;
106unsigned   int lastDCSpeed=currentDCSpeed;
107int tempDirection=0;
108
109int currentDirection   = -1; 
110int targetDirection = -1; 
111
112// initialise infrared
113const int   RECV_PIN = LEDpin;
114IRrecv irrecv(RECV_PIN);
115decode_results results; 
116const   int nobuttons=21;
117unsigned long buttonPressed=0;
118
119// initialise ultrasound
120
121NewPing   sonar(TrigPin, EchoPin, maxDistance);
122
123void setup() {
124  // put your setup   code here, to run once:
125  pinMode(LEDpin,INPUT);
126  Serial.begin(BAUDRATE);   
127  irrecv.enableIRIn(); // Start the receiver
128  // start motor A
129  pinMode(Ena,OUTPUT);
130   pinMode(a1,OUTPUT);
131  pinMode(a2,OUTPUT);
132  analogWrite(Ena,currentDCSpeed);   // necessary for some reason
133  // start motor B
134  pinMode(Enb,OUTPUT);
135   pinMode(b1,OUTPUT);
136  pinMode(b2,OUTPUT);
137  analogWrite(Enb,currentDCSpeed);
138   
139  moveDirection(IRStop); // Vehicle.direction = DirectionForward
140  
141   pinMode(redLED, OUTPUT);   // red LED
142  pinMode(greenLED, OUTPUT); // green   LED
143}
144
145void loop() {
146
147  if (!safe2Proceed()){ // also controls red   LED
148     watchit=true; // we must take some action to avoid obstruction
149  }
150   else{
151     watchit=false;
152  }
153
154    buttonPressed=getRemoteSignal();
155     if(buttonPressed>0){
156
157      switch(buttonPressed) // -1 = unknown. I included   the other codes in comment, just in case. If these dont work. find out yourself.   
158      {
159      case 16716015://case 2351064443: // '4' = turn left
160          targetDirection=IRLeft;
161         break;
162      case 16718055: // case 1033561079: // '2' = straight on
163            targetDirection=IRForward;
164        break;
165      case 16734885:   // 71952287: // '6' = turn right
166           targetDirection=IRRight;
167        break;   
168      case 16730805:  // 465573243: // '8' = backwards 
169           targetDirection=IRBack;
170         break; 
171      case 16726215: // 1217346747: // '5' = stop
172           targetDirection=IRStop;
173         break;  
174        
175      case 16769055: //4034314555: // '-' = slow   down
176           decreaseSpeed();
177        break;
178      case 16754775: //2747854299:   // '+' = speed up
179           increaseSpeed();
180        break;  
181      }
182       
183      changeState=10*currentDirection + targetDirection; // check this   out!
184      changeDirection(changeState); // gradualy change speed of the motors,   in ordor to not to stress te motor-connections withe the frame.
185                                    //   if you are sure your connection is very firm, you can skip the changeDirection procedure.
186
187       moveDirection(targetDirection);
188      currentDirection=targetDirection;
189     }
190    
191    buttonPressed=0;
192    moveDirection(currentDirection);
193     
194} // loop
195
196boolean safe2Proceed(){
197  if (USaan){
198  unsigned   int distance=sonar.convert_cm(sonar.ping_median(5)); // to get a reliable value.   Default this will use a Timer interrupt, wich may be conflicting with either other   libraries
199                                                                //   or the default Arduino code. If you have a compiler, or rather, linking errors containing   'vect_7',
200                                                                //   set the USE_TIMER directive in newping.h to false.
201                                                                //   Thank you, Tim Eckel, the author of this library.
202  if (distance==0){
203    digitalWrite(greenLED,LOW);   // you could change this command with assembler code, much faster. I.E. : "PORTB   &= ~(1 << 4);" But I doubt you will ever notice the speed change.
204                                //   Code size will change to decrease the amount, however. Same goes for other digitalWrite   or digitalRead procedures.
205    return true;
206  }
207  else{
208    digitalWrite(greenLED,HIGH);   // "PORTB |= (1 << 4);"
209    signalLed(distance); 
210    return (distance>safeDistance);
211     }
212  }
213}
214
215void signalLed(int dist){
216  int index=0;
217  if(dist<=48){
218     index = ((dist-48)/-4); // linear equatation based on desired result graph.   Check it out yourself.
219    analogWrite(redLED,23*index);// glowing to bright   red scaled to 0..253. Index ranging between 0 and 11
220  }
221  else{
222    digitalWrite(redLED,LOW);//   Led off
223  }
224}
225
226void changeDirection(int state){
227  int speed=currentDCSpeed;
228   switch (state){
229      case FS:
230        while (speed>=DCMinSpeed){
231          speed-=SpeedStep;
232           delay(10);
233          moveOn(speed);
234        }
235      break;
236       case SF:
237        speed=DCMinSpeed;
238        while (speed<=currentDCSpeed){
239           speed+=SpeedStep;
240          delay(10);
241          moveOn(speed);
242         }
243      break;
244      case BS:
245        while (speed>=DCMinSpeed){
246           speed-=SpeedStep;
247          delay(10);
248          moveBack(speed);
249         }
250      break;
251      case SB:
252        speed=DCMinSpeed;
253        while   (speed<=currentDCSpeed){
254          speed+=SpeedStep;
255          delay(10);
256           moveBack(speed);
257        }
258      break;
259      case LS:
260        while   (speed>=DCMinSpeed){
261          speed-=SpeedStep;
262          delay(10);
263           moveLeft(speed);
264        }
265      break;
266      case SL:
267        speed=DCMinSpeed;
268         while (speed<=currentDCSpeed){
269          speed+=SpeedStep;
270          delay(10);
271           moveLeft(speed);
272        }
273      break;
274      case RS:
275        while   (speed>=DCMinSpeed){
276          speed-=SpeedStep;
277          delay(10);
278           moveRight(speed);
279        }
280      break;
281      case SR:
282        speed=DCMinSpeed;
283         while (speed<=currentDCSpeed){
284          speed+=SpeedStep;
285          delay(10);
286           moveRight(speed);
287        }
288      break;
289      case FR:
290        motorAChange(FS);
291         motorAChange(SB);
292      break;
293      case FB:
294        while (speed>DCMinSpeed){
295           speed-=SpeedStep;
296          delay(10);
297          moveOn(speed);
298         }
299        while (speed<currentDCSpeed){
300          speed+=SpeedStep;
301           delay(10);
302          moveBack(speed);
303        }
304      break;
305       case FL:
306        motorBChange(FS);
307        motorBChange(SB);
308      break;
309       case RF:
310        motorAChange(BS);
311        motorAChange(SF);
312      break;
313       case BF:
314         while (speed>DCMinSpeed){
315          speed-=SpeedStep;
316           delay(10);
317          moveBack(speed);
318        }
319        while   (speed<currentDCSpeed){
320          speed+=SpeedStep;
321          delay(10);
322           moveOn(speed);
323        }
324      break;
325      case LF:
326        motorBChange(BS);
327         motorBChange(SF);        
328      break;
329      case BL:
330        motorAChange(BS);
331         motorAChange(SF);
332      break;
333      case BR:
334        motorBChange(BS);
335         motorBChange(SF);
336      break;
337      case LB:
338        motorBChange(LS);
339         motorBChange(SB);
340      break;
341      case RB:
342        motorAChange(RS);
343         motorAChange(SB);
344      break;
345      case RL:
346        while (speed>DCMinSpeed){
347           speed-=SpeedStep;
348          delay(10);
349          moveRight(speed);
350         }
351        while (speed<currentDCSpeed){
352          speed+=SpeedStep;
353           delay(10);
354          moveLeft(speed);
355        }
356      break;
357       case LR:
358        while (speed>DCMinSpeed){
359          speed-=SpeedStep;
360           delay(10);
361          moveLeft(speed);
362        }
363        while   (speed<currentDCSpeed){
364          speed+=SpeedStep;
365          delay(10);
366           moveRight(speed);
367        }
368      break;
369  }
370}
371
372void   moveDirection(int dir){ // Implementation of the FSM controlling your direction   according to the IRdevice. 
373                             // I use a 'switch'   structure, which is fast and can be readily understood.
374                             //   in parallel the results of the US device (watchit) ar taken in consideration.
375     switch (dir) {           // target state
376      case IRForward:        //   straight on
377        USaan=true;
378        if (watchit){
379          changeDirection(FR);
380           currentDirection = IRForwardAvoid;
381        }
382        else{
383          currentDirection=IRForward;
384           moveOn(currentDCSpeed);
385        }
386    break;
387    case IRForwardAvoid:
388         if (!watchit){
389          changeDirection(RF);
390          currentDirection   = IRForward;
391          moveOn(currentDCSpeed);
392        }
393        else {
394           currentDirection= IRForwardAvoid;
395          moveRight(currentDCSpeed);
396           }
397    break;    
398    case IRBack:
399        USaan=false;
400        digitalWrite(greenLED,LOW);
401         currentDirection=IRBack;
402        moveBack(currentDCSpeed);
403        break;
404     case IRLeft:
405        USaan=true;
406        if(watchit){
407          changeDirection(LF);
408           currentDirection=IRLeftAvoid;
409        }
410        else{
411          currentDirection=IRLeft;
412           moveLeft(currentDCSpeed);
413        }
414    break;
415    case IRLeftAvoid:
416         if (!watchit){
417          currentDirection=IRLeft;
418          moveLeft(currentDCSpeed);
419         } 
420        else{
421          currentDirection=IRLeftAvoid;
422          moveOn(currentDCSpeed);
423         }
424    break;    
425    case IRRight:
426        USaan=true;
427        if(watchit){
428           changeDirection(RL);
429          currentDirection=IRRightAvoid;
430        }
431         else{
432          currentDirection=IRRight;
433          moveRight(currentDCSpeed);
434           }
435    break;
436    case IRRightAvoid:
437        if(!watchit){
438           currentDirection=IRRight;
439          changeDirection(LR);
440          moveRight(currentDCSpeed);
441         }
442        else{
443          currentDirection=IRRightAvoid;
444          moveLeft(currentDCSpeed);
445           }
446    break;    
447    case IRStop:
448        USaan=true;
449        if(watchit){
450           changeDirection(SB);
451          currentDirection=IRStopAvoid;
452          }
453         else{
454          currentDirection=IRStop;
455          moveNot(currentDCSpeed);
456           }
457    break;
458    case IRStopAvoid:
459        if(!watchit){
460           changeDirection(BS);
461          currentDirection=IRStop;
462          moveNot(currentDCSpeed);
463         }    
464        else{
465          currentDirection=IRStopAvoid;
466          moveBack(currentDCSpeed);
467         }
468    break;   
469    }
470  }
471void decreaseSpeed(){
472  if (currentDCSpeed>(SpeedStep-1)){
473     currentDCSpeed -=SpeedStep; 
474    }
475}
476void increaseSpeed(){
477  if   (currentDCSpeed<DCMaxSpeed-SpeedStep){
478    currentDCSpeed +=SpeedStep;
479    }
480}
481
482void   moveOn(int speed){ // currentspeed
483  digitalWrite(a1,LOW);  digitalWrite(a2,HIGH);   analogWrite(Ena,speed); // the digitalWrite functions can be replaced by register   calls, Faster and take up less memory.
484  digitalWrite(b1,LOW);  digitalWrite(b2,HIGH);   analogWrite(Enb,speed); // But again I doubt if it is noticable in speed. It will   in program size.
485}
486
487void moveBack(int speed){
488  digitalWrite(a1,HIGH);   digitalWrite(a2,LOW); analogWrite(Ena,speed); // the Arduino softwae is a bit   of a hog on memory space.
489  digitalWrite(b1,HIGH);  digitalWrite(b2,LOW); analogWrite(Enb,speed);   // I don't know enough of the analogWrite procedure to give any advice, except from,   DON'T tinker with it.
490}
491
492void moveLeft(int speed){
493  digitalWrite(a1,LOW);   digitalWrite(a2,HIGH); analogWrite(Ena,speed); // because it relies heavily on   the scarce Timer resources of the Arduino Uno.
494  digitalWrite(b1,HIGH); digitalWrite(b2,LOW);   analogWrite(Enb,speed);
495}
496
497void moveRight(int speed){
498  digitalWrite(a1,HIGH);   digitalWrite(a2,LOW);  analogWrite(Ena,speed);
499  digitalWrite(b1,LOW);  digitalWrite(b2,HIGH);   analogWrite(Enb,speed);
500}
501
502void moveNot(int speed){
503  digitalWrite(a1,LOW);   digitalWrite(a2,LOW);
504  digitalWrite(b1,LOW);  digitalWrite(b2,LOW);  
505}
506
507void   motorAChange(int mode){
508  int speed=currentDCSpeed;
509    switch(mode){
510       case ForwardStop:
511      while (speed >DCMinSpeed){
512        speed-=SpeedStep;
513         delay(10);
514        digitalWrite(a1,LOW); digitalWrite(a2,HIGH); analogWrite(Ena,speed);
515       }
516      break;
517      case BackwardStop:
518      while (speed > DCMinSpeed){
519         speed-=SpeedStep;
520        delay(10);
521        digitalWrite(a1,HIGH);   digitalWrite(a2,LOW); analogWrite(Ena,speed);
522      }
523      break;
524      case   StopForward:
525      speed=DCMinSpeed;
526      while (speed < currentDCSpeed){
527         speed+=SpeedStep;
528        delay(10);
529        digitalWrite(a1,LOW);   digitalWrite(a2,HIGH); analogWrite(Ena,speed);
530      }      
531      break;
532       case StopBackward:
533      speed=DCMinSpeed;
534      delay(10);
535      while   (speed < currentDCSpeed){
536        speed+=SpeedStep;
537        digitalWrite(a1,HIGH);   digitalWrite(a2,LOW); analogWrite(Ena,speed);
538      }
539      break;
540  }
541}
542void   motorBChange(int mode){
543int speed=currentDCSpeed;
544    switch(mode){
545      case   ForwardStop:
546      while (speed >DCMinSpeed){
547        speed-=SpeedStep;
548         delay(10);
549        digitalWrite(b1,LOW); digitalWrite(b2,HIGH); analogWrite(Enb,speed);
550       }
551      break;
552      case BackwardStop:
553      while (speed > DCMinSpeed){
554         speed-=SpeedStep;
555        delay(10);
556        digitalWrite(b1,HIGH);   digitalWrite(b2,LOW); analogWrite(Enb,speed);
557      }
558      break;
559      case   StopForward:
560      speed=DCMinSpeed;
561      while (speed < currentDCSpeed){
562         speed+=SpeedStep;
563        delay(10);
564        digitalWrite(b1,LOW);   digitalWrite(b2,HIGH); analogWrite(Enb,speed);
565      }      
566      break;
567       case StopBackward:
568      speed=DCMinSpeed;
569      while (speed < currentDCSpeed){
570         speed+=SpeedStep;
571        delay(10);
572        digitalWrite(b1,HIGH);   digitalWrite(b2,LOW); analogWrite(Enb,speed);
573      }
574      break;
575  }   
576}
577
578unsigned long getRemoteSignal(void){ // This is copied from the example.   IF you have another kind of IR device test and debug. use plenty of Serial.print...
579                                      // Hopefully you will only need different values   in your lookup table. See the library documentation
580                                     //   I think it would be a bad idea to transform all this into an Interrupt Service Routine.   Takes too much performance time...
581  unsigned long retval=0;
582  if (irrecv.decode(&results)){
583     int teller =0;           // originally global
584    boolean notfound = true;   // originally global
585    if (results.decode_type == -1) // due to initialy very   confusing errors/faults, I discovered the type -1 resluted in consistent button   values. 
586                                   // I do both now, one of them does   the job ...
587    {
588      while (teller< nobuttons && notfound) 
589      {
590         unsigned long button=results.value;
591        if (button==ff_code[teller])
592         { 
593          retval=button;
594          notfound = false;
595        }
596         teller++;
597      }
598    }
599    if (results.decode_type == 3) // DEC???
600     {
601      while (teller< nobuttons && notfound) 
602      {
603        unsigned   long button=results.value;
604        if (button==Button_DEC_code[teller])
605        {   
606          retval=button;
607          notfound = false;
608        }
609        teller++;
610       }
611    }
612    if (notfound)
613      {
614        String button=String(results.value,   HEX);
615        if (button.substring(0,6)!="ffffff") 
616        {
617          button.toUpperCase();
618         }
619      }
620    irrecv.resume(); // Receive the next value
621  }
622   return retval;
623}
624
625

#include <IRremote.h>
#include <NewPing.h> // to avoid compiling errors   in combination with the use of the IRremote library, you should set the '#define   TIMER_ENABLED' in this header file to false;
                     // this was   for a while a major headache. Eventually the author, Tim Eckel, provided the answer   in of the arduino forums. Thanks, M8!

// Finite State Machine implementation   using a switch statment used by the infrared remote control
#define IRForward   2
#define IRForwardAvoid 12 // 26? = FR
#define IRRight 6 
#define IRRightAvoid   16 //64? = RL
#define IRBack 8
#define IRLeft 4 
#define IRLeftAvoid 14   // 46? = LR
#define IRStop 5
#define IRStopAvoid 15 //58? = SB

  //   secundary transition states
  // StateID can be calculated by (10*currentDirection+targetDirection)
   // the mnemonic is tin the same way a simple combination of current- and target   direction
  
#define FS 25 // IRForward -> IRSTOP
#define BS 85 // IRBack     -> IRStop
#define LS 45 // Left      -> Stop
#define RS 65 // Right     ->   Stop
#define SF 52 // IRStop    -> IRForward
#define SB 58 // IRStop    ->   IRBack
#define SL 54 // Stop      -> Left
#define SR 56 // Stop      -> Right
#define   FR 26 // etc.
#define FB 28
#define FL 24
#define RF 62
#define BF 82
#define   LF 42
#define BL 84
#define BR 86
#define LB 48
#define RB 68
#define   RL 64
#define LR 46

// used by single motors
#define ForwardStop 25
#define   BackwardStop 25
#define StopForward 52
#define StopBackward 58

//pindefines

//motor   A, in my case the left one
#define Ena  10 //Enable, and speed control
#define   a1   8 // turning direction HIGH or LOW  or LOW. HIGH HIGH is nonsense. LOW LOW   makes the motor stop.
#define a2   7 // turning direction LOW  or HIGH or LOW

#define   Enb  9 //Enable, and speed control
#define b1   4
#define b2   6
// A word   to the wise. Do not use arduino ports 3 and 11 in situations where PFM on multiple   devices, even if only a LED is necessary. 
// It won't work. Hence the curious   use of the enable ports

#define LEDpin 14     // A0 Infrarood
#define   TrigPin 16    // A1 ultrasound
#define EchoPin 15    // A2 ultrasound
#define   redLED 5      // redLED must be PFM enabled ...
#define greenLED 12   // green   LED on/off only
#define BAUDRATE 9600 // debugging

//constants
const   int safeDistance=15;
const unsigned int maxDistance = 200;
const unsigned   int DCMaxSpeed = 255;
const unsigned int DCMinSpeed = 32;
const int SpeedStep   = 4;

const long Button_DEC_code[21] = 
  {
     16753245,     16736925,      16769565,
     16720605,     16712445,     16761405,
     //vol-,vol+,eq
      16769055,     16754775,     16748655,
     //0,100+,200+
     16738455,      16750695,     16756815,
     // the number buttons
     16724175,     16718055,      16743045,
     16716015,     16726215,     16734885,
     16728765,     16730805,      16732845
  };
const unsigned long ff_code[21] = // unknown IR device
   {
    3810010651,5316027,4001918335,
    1386468383,3622325019,553536955,
     4034314555,2747854299,3855596927,
    3238126971,2538093563,4039382595,
     2534850111,1033561079,1635910171,
    2351064443,1217346747,71952287,
     851901943,465573243,1053031451
  };


// global variables

int   IRstate=IRStop; 
int changeState=0;
boolean watchit=false; // obstruction   detected
boolean USaan=false;
unsigned int currentDCSpeed = 168;
unsigned   int lastDCSpeed=currentDCSpeed;
int tempDirection=0;

int currentDirection   = -1; 
int targetDirection = -1; 

// initialise infrared
const int   RECV_PIN = LEDpin;
IRrecv irrecv(RECV_PIN);
decode_results results; 
const   int nobuttons=21;
unsigned long buttonPressed=0;

// initialise ultrasound

NewPing   sonar(TrigPin, EchoPin, maxDistance);

void setup() {
  // put your setup   code here, to run once:
  pinMode(LEDpin,INPUT);
  Serial.begin(BAUDRATE);   
  irrecv.enableIRIn(); // Start the receiver
  // start motor A
  pinMode(Ena,OUTPUT);
   pinMode(a1,OUTPUT);
  pinMode(a2,OUTPUT);
  analogWrite(Ena,currentDCSpeed);   // necessary for some reason
  // start motor B
  pinMode(Enb,OUTPUT);
   pinMode(b1,OUTPUT);
  pinMode(b2,OUTPUT);
  analogWrite(Enb,currentDCSpeed);
   
  moveDirection(IRStop); // Vehicle.direction = DirectionForward
  
   pinMode(redLED, OUTPUT);   // red LED
  pinMode(greenLED, OUTPUT); // green   LED
}

void loop() {

  if (!safe2Proceed()){ // also controls red   LED
     watchit=true; // we must take some action to avoid obstruction
  }
   else{
     watchit=false;
  }

    buttonPressed=getRemoteSignal();
     if(buttonPressed>0){

      switch(buttonPressed) // -1 = unknown. I included   the other codes in comment, just in case. If these dont work. find out yourself.   
      {
      case 16716015://case 2351064443: // '4' = turn left
          targetDirection=IRLeft;
         break;
      case 16718055: // case 1033561079: // '2' = straight on
            targetDirection=IRForward;
        break;
      case 16734885:   // 71952287: // '6' = turn right
           targetDirection=IRRight;
        break;   
      case 16730805:  // 465573243: // '8' = backwards 
           targetDirection=IRBack;
         break; 
      case 16726215: // 1217346747: // '5' = stop
           targetDirection=IRStop;
         break;  
        
      case 16769055: //4034314555: // '-' = slow   down
           decreaseSpeed();
        break;
      case 16754775: //2747854299:   // '+' = speed up
           increaseSpeed();
        break;  
      }
       
      changeState=10*currentDirection + targetDirection; // check this   out!
      changeDirection(changeState); // gradualy change speed of the motors,   in ordor to not to stress te motor-connections withe the frame.
                                    //   if you are sure your connection is very firm, you can skip the changeDirection procedure.

       moveDirection(targetDirection);
      currentDirection=targetDirection;
     }
    
    buttonPressed=0;
    moveDirection(currentDirection);
     
} // loop

boolean safe2Proceed(){
  if (USaan){
  unsigned   int distance=sonar.convert_cm(sonar.ping_median(5)); // to get a reliable value.   Default this will use a Timer interrupt, wich may be conflicting with either other   libraries
                                                                //   or the default Arduino code. If you have a compiler, or rather, linking errors containing   'vect_7',
                                                                //   set the USE_TIMER directive in newping.h to false.
                                                                //   Thank you, Tim Eckel, the author of this library.
  if (distance==0){
    digitalWrite(greenLED,LOW);   // you could change this command with assembler code, much faster. I.E. : "PORTB   &= ~(1 << 4);" But I doubt you will ever notice the speed change.
                                //   Code size will change to decrease the amount, however. Same goes for other digitalWrite   or digitalRead procedures.
    return true;
  }
  else{
    digitalWrite(greenLED,HIGH);   // "PORTB |= (1 << 4);"
    signalLed(distance); 
    return (distance>safeDistance);
     }
  }
}

void signalLed(int dist){
  int index=0;
  if(dist<=48){
     index = ((dist-48)/-4); // linear equatation based on desired result graph.   Check it out yourself.
    analogWrite(redLED,23*index);// glowing to bright   red scaled to 0..253. Index ranging between 0 and 11
  }
  else{
    digitalWrite(redLED,LOW);//   Led off
  }
}

void changeDirection(int state){
  int speed=currentDCSpeed;
   switch (state){
      case FS:
        while (speed>=DCMinSpeed){
          speed-=SpeedStep;
           delay(10);
          moveOn(speed);
        }
      break;
       case SF:
        speed=DCMinSpeed;
        while (speed<=currentDCSpeed){
           speed+=SpeedStep;
          delay(10);
          moveOn(speed);
         }
      break;
      case BS:
        while (speed>=DCMinSpeed){
           speed-=SpeedStep;
          delay(10);
          moveBack(speed);
         }
      break;
      case SB:
        speed=DCMinSpeed;
        while   (speed<=currentDCSpeed){
          speed+=SpeedStep;
          delay(10);
           moveBack(speed);
        }
      break;
      case LS:
        while   (speed>=DCMinSpeed){
          speed-=SpeedStep;
          delay(10);
           moveLeft(speed);
        }
      break;
      case SL:
        speed=DCMinSpeed;
         while (speed<=currentDCSpeed){
          speed+=SpeedStep;
          delay(10);
           moveLeft(speed);
        }
      break;
      case RS:
        while   (speed>=DCMinSpeed){
          speed-=SpeedStep;
          delay(10);
           moveRight(speed);
        }
      break;
      case SR:
        speed=DCMinSpeed;
         while (speed<=currentDCSpeed){
          speed+=SpeedStep;
          delay(10);
           moveRight(speed);
        }
      break;
      case FR:
        motorAChange(FS);
         motorAChange(SB);
      break;
      case FB:
        while (speed>DCMinSpeed){
           speed-=SpeedStep;
          delay(10);
          moveOn(speed);
         }
        while (speed<currentDCSpeed){
          speed+=SpeedStep;
           delay(10);
          moveBack(speed);
        }
      break;
       case FL:
        motorBChange(FS);
        motorBChange(SB);
      break;
       case RF:
        motorAChange(BS);
        motorAChange(SF);
      break;
       case BF:
         while (speed>DCMinSpeed){
          speed-=SpeedStep;
           delay(10);
          moveBack(speed);
        }
        while   (speed<currentDCSpeed){
          speed+=SpeedStep;
          delay(10);
           moveOn(speed);
        }
      break;
      case LF:
        motorBChange(BS);
         motorBChange(SF);        
      break;
      case BL:
        motorAChange(BS);
         motorAChange(SF);
      break;
      case BR:
        motorBChange(BS);
         motorBChange(SF);
      break;
      case LB:
        motorBChange(LS);
         motorBChange(SB);
      break;
      case RB:
        motorAChange(RS);
         motorAChange(SB);
      break;
      case RL:
        while (speed>DCMinSpeed){
           speed-=SpeedStep;
          delay(10);
          moveRight(speed);
         }
        while (speed<currentDCSpeed){
          speed+=SpeedStep;
           delay(10);
          moveLeft(speed);
        }
      break;
       case LR:
        while (speed>DCMinSpeed){
          speed-=SpeedStep;
           delay(10);
          moveLeft(speed);
        }
        while   (speed<currentDCSpeed){
          speed+=SpeedStep;
          delay(10);
           moveRight(speed);
        }
      break;
  }
}

void   moveDirection(int dir){ // Implementation of the FSM controlling your direction   according to the IRdevice. 
                             // I use a 'switch'   structure, which is fast and can be readily understood.
                             //   in parallel the results of the US device (watchit) ar taken in consideration.
     switch (dir) {           // target state
      case IRForward:        //   straight on
        USaan=true;
        if (watchit){
          changeDirection(FR);
           currentDirection = IRForwardAvoid;
        }
        else{
          currentDirection=IRForward;
           moveOn(currentDCSpeed);
        }
    break;
    case IRForwardAvoid:
         if (!watchit){
          changeDirection(RF);
          currentDirection   = IRForward;
          moveOn(currentDCSpeed);
        }
        else {
           currentDirection= IRForwardAvoid;
          moveRight(currentDCSpeed);
           }
    break;    
    case IRBack:
        USaan=false;
        digitalWrite(greenLED,LOW);
         currentDirection=IRBack;
        moveBack(currentDCSpeed);
        break;
     case IRLeft:
        USaan=true;
        if(watchit){
          changeDirection(LF);
           currentDirection=IRLeftAvoid;
        }
        else{
          currentDirection=IRLeft;
           moveLeft(currentDCSpeed);
        }
    break;
    case IRLeftAvoid:
         if (!watchit){
          currentDirection=IRLeft;
          moveLeft(currentDCSpeed);
         } 
        else{
          currentDirection=IRLeftAvoid;
          moveOn(currentDCSpeed);
         }
    break;    
    case IRRight:
        USaan=true;
        if(watchit){
           changeDirection(RL);
          currentDirection=IRRightAvoid;
        }
         else{
          currentDirection=IRRight;
          moveRight(currentDCSpeed);
           }
    break;
    case IRRightAvoid:
        if(!watchit){
           currentDirection=IRRight;
          changeDirection(LR);
          moveRight(currentDCSpeed);
         }
        else{
          currentDirection=IRRightAvoid;
          moveLeft(currentDCSpeed);
           }
    break;    
    case IRStop:
        USaan=true;
        if(watchit){
           changeDirection(SB);
          currentDirection=IRStopAvoid;
          }
         else{
          currentDirection=IRStop;
          moveNot(currentDCSpeed);
           }
    break;
    case IRStopAvoid:
        if(!watchit){
           changeDirection(BS);
          currentDirection=IRStop;
          moveNot(currentDCSpeed);
         }    
        else{
          currentDirection=IRStopAvoid;
          moveBack(currentDCSpeed);
         }
    break;   
    }
  }
void decreaseSpeed(){
  if (currentDCSpeed>(SpeedStep-1)){
     currentDCSpeed -=SpeedStep; 
    }
}
void increaseSpeed(){
  if   (currentDCSpeed<DCMaxSpeed-SpeedStep){
    currentDCSpeed +=SpeedStep;
    }
}

void   moveOn(int speed){ // currentspeed
  digitalWrite(a1,LOW);  digitalWrite(a2,HIGH);   analogWrite(Ena,speed); // the digitalWrite functions can be replaced by register   calls, Faster and take up less memory.
  digitalWrite(b1,LOW);  digitalWrite(b2,HIGH);   analogWrite(Enb,speed); // But again I doubt if it is noticable in speed. It will   in program size.
}

void moveBack(int speed){
  digitalWrite(a1,HIGH);   digitalWrite(a2,LOW); analogWrite(Ena,speed); // the Arduino softwae is a bit   of a hog on memory space.
  digitalWrite(b1,HIGH);  digitalWrite(b2,LOW); analogWrite(Enb,speed);   // I don't know enough of the analogWrite procedure to give any advice, except from,   DON'T tinker with it.
}

void moveLeft(int speed){
  digitalWrite(a1,LOW);   digitalWrite(a2,HIGH); analogWrite(Ena,speed); // because it relies heavily on   the scarce Timer resources of the Arduino Uno.
  digitalWrite(b1,HIGH); digitalWrite(b2,LOW);   analogWrite(Enb,speed);
}

void moveRight(int speed){
  digitalWrite(a1,HIGH);   digitalWrite(a2,LOW);  analogWrite(Ena,speed);
  digitalWrite(b1,LOW);  digitalWrite(b2,HIGH);   analogWrite(Enb,speed);
}

void moveNot(int speed){
  digitalWrite(a1,LOW);   digitalWrite(a2,LOW);
  digitalWrite(b1,LOW);  digitalWrite(b2,LOW);  
}

void   motorAChange(int mode){
  int speed=currentDCSpeed;
    switch(mode){
       case ForwardStop:
      while (speed >DCMinSpeed){
        speed-=SpeedStep;
         delay(10);
        digitalWrite(a1,LOW); digitalWrite(a2,HIGH); analogWrite(Ena,speed);
       }
      break;
      case BackwardStop:
      while (speed > DCMinSpeed){
         speed-=SpeedStep;
        delay(10);
        digitalWrite(a1,HIGH);   digitalWrite(a2,LOW); analogWrite(Ena,speed);
      }
      break;
      case   StopForward:
      speed=DCMinSpeed;
      while (speed < currentDCSpeed){
         speed+=SpeedStep;
        delay(10);
        digitalWrite(a1,LOW);   digitalWrite(a2,HIGH); analogWrite(Ena,speed);
      }      
      break;
       case StopBackward:
      speed=DCMinSpeed;
      delay(10);
      while   (speed < currentDCSpeed){
        speed+=SpeedStep;
        digitalWrite(a1,HIGH);   digitalWrite(a2,LOW); analogWrite(Ena,speed);
      }
      break;
  }
}
void   motorBChange(int mode){
int speed=currentDCSpeed;
    switch(mode){
      case   ForwardStop:
      while (speed >DCMinSpeed){
        speed-=SpeedStep;
         delay(10);
        digitalWrite(b1,LOW); digitalWrite(b2,HIGH); analogWrite(Enb,speed);
       }
      break;
      case BackwardStop:
      while (speed > DCMinSpeed){
         speed-=SpeedStep;
        delay(10);
        digitalWrite(b1,HIGH);   digitalWrite(b2,LOW); analogWrite(Enb,speed);
      }
      break;
      case   StopForward:
      speed=DCMinSpeed;
      while (speed < currentDCSpeed){
         speed+=SpeedStep;
        delay(10);
        digitalWrite(b1,LOW);   digitalWrite(b2,HIGH); analogWrite(Enb,speed);
      }      
      break;
       case StopBackward:
      speed=DCMinSpeed;
      while (speed < currentDCSpeed){
         speed+=SpeedStep;
        delay(10);
        digitalWrite(b1,HIGH);   digitalWrite(b2,LOW); analogWrite(Enb,speed);
      }
      break;
  }   
}

unsigned long getRemoteSignal(void){ // This is copied from the example.   IF you have another kind of IR device test and debug. use plenty of Serial.print...
                                      // Hopefully you will only need different values   in your lookup table. See the library documentation
                                     //   I think it would be a bad idea to transform all this into an Interrupt Service Routine.   Takes too much performance time...
  unsigned long retval=0;
  if (irrecv.decode(&results)){
     int teller =0;           // originally global
    boolean notfound = true;   // originally global
    if (results.decode_type == -1) // due to initialy very   confusing errors/faults, I discovered the type -1 resluted in consistent button   values. 
                                   // I do both now, one of them does   the job ...
    {
      while (teller< nobuttons && notfound) 
      {
         unsigned long button=results.value;
        if (button==ff_code[teller])
         { 
          retval=button;
          notfound = false;
        }
         teller++;
      }
    }
    if (results.decode_type == 3) // DEC???
     {
      while (teller< nobuttons && notfound) 
      {
        unsigned   long button=results.value;
        if (button==Button_DEC_code[teller])
        {   
          retval=button;
          notfound = false;
        }
        teller++;
       }
    }
    if (notfound)
      {
        String button=String(results.value,   HEX);
        if (button.substring(0,6)!="ffffff") 
        {
          button.toUpperCase();
         }
      }
    irrecv.resume(); // Receive the next value
  }
   return retval;
}

IrRemote code

arduino

1#include <IRremote.h>
2#include <NewPing.h> // to avoid compiling errors  in combination with the use of the IRremote library, you should set the '#define  TIMER_ENABLED' in this header file to false;
3                     // this was  for a while a major headache. Eventually the author, Tim Eckel, provided the answer  in of the arduino forums. Thanks, M8!
4
5// Finite State Machine implementation  using a switch statment used by the infrared remote control
6#define IRForward  2
7#define IRForwardAvoid 12 // 26? = FR
8#define IRRight 6 
9#define IRRightAvoid  16 //64? = RL
10#define IRBack 8
11#define IRLeft 4 
12#define IRLeftAvoid 14  // 46? = LR
13#define IRStop 5
14#define IRStopAvoid 15 //58? = SB
15
16  //  secundary transition states
17  // StateID can be calculated by (10*currentDirection+targetDirection)
18  // the mnemonic is tin the same way a simple combination of current- and target  direction
19  
20#define FS 25 // IRForward -> IRSTOP
21#define BS 85 // IRBack    -> IRStop
22#define LS 45 // Left      -> Stop
23#define RS 65 // Right     ->  Stop
24#define SF 52 // IRStop    -> IRForward
25#define SB 58 // IRStop    ->  IRBack
26#define SL 54 // Stop      -> Left
27#define SR 56 // Stop      -> Right
28#define  FR 26 // etc.
29#define FB 28
30#define FL 24
31#define RF 62
32#define BF 82
33#define  LF 42
34#define BL 84
35#define BR 86
36#define LB 48
37#define RB 68
38#define  RL 64
39#define LR 46
40
41// used by single motors
42#define ForwardStop 25
43#define  BackwardStop 25
44#define StopForward 52
45#define StopBackward 58
46
47//pindefines
48
49//motor  A, in my case the left one
50#define Ena  10 //Enable, and speed control
51#define  a1   8 // turning direction HIGH or LOW  or LOW. HIGH HIGH is nonsense. LOW LOW  makes the motor stop.
52#define a2   7 // turning direction LOW  or HIGH or LOW
53
54#define  Enb  9 //Enable, and speed control
55#define b1   4
56#define b2   6
57// A word  to the wise. Do not use arduino ports 3 and 11 in situations where PFM on multiple  devices, even if only a LED is necessary. 
58// It won't work. Hence the curious  use of the enable ports
59
60#define LEDpin 14     // A0 Infrarood
61#define  TrigPin 16    // A1 ultrasound
62#define EchoPin 15    // A2 ultrasound
63#define  redLED 5      // redLED must be PFM enabled ...
64#define greenLED 12   // green  LED on/off only
65#define BAUDRATE 9600 // debugging
66
67//constants
68const  int safeDistance=15;
69const unsigned int maxDistance = 200;
70const unsigned  int DCMaxSpeed = 255;
71const unsigned int DCMinSpeed = 32;
72const int SpeedStep  = 4;
73
74const long Button_DEC_code[21] = 
75  {
76     16753245,     16736925,     16769565,
77     16720605,     16712445,     16761405,
78     //vol-,vol+,eq
79     16769055,     16754775,     16748655,
80     //0,100+,200+
81     16738455,     16750695,     16756815,
82     // the number buttons
83     16724175,     16718055,     16743045,
84     16716015,     16726215,     16734885,
85     16728765,     16730805,     16732845
86  };
87const unsigned long ff_code[21] = // unknown IR device
88  {
89    3810010651,5316027,4001918335,
90    1386468383,3622325019,553536955,
91    4034314555,2747854299,3855596927,
92    3238126971,2538093563,4039382595,
93    2534850111,1033561079,1635910171,
94    2351064443,1217346747,71952287,
95    851901943,465573243,1053031451
96  };
97
98
99// global variables
100
101int  IRstate=IRStop; 
102int changeState=0;
103boolean watchit=false; // obstruction  detected
104boolean USaan=false;
105unsigned int currentDCSpeed = 168;
106unsigned  int lastDCSpeed=currentDCSpeed;
107int tempDirection=0;
108
109int currentDirection  = -1; 
110int targetDirection = -1; 
111
112// initialise infrared
113const int  RECV_PIN = LEDpin;
114IRrecv irrecv(RECV_PIN);
115decode_results results; 
116const  int nobuttons=21;
117unsigned long buttonPressed=0;
118
119// initialise ultrasound
120
121NewPing  sonar(TrigPin, EchoPin, maxDistance);
122
123void setup() {
124  // put your setup  code here, to run once:
125  pinMode(LEDpin,INPUT);
126  Serial.begin(BAUDRATE);  
127  irrecv.enableIRIn(); // Start the receiver
128  // start motor A
129  pinMode(Ena,OUTPUT);
130  pinMode(a1,OUTPUT);
131  pinMode(a2,OUTPUT);
132  analogWrite(Ena,currentDCSpeed);  // necessary for some reason
133  // start motor B
134  pinMode(Enb,OUTPUT);
135  pinMode(b1,OUTPUT);
136  pinMode(b2,OUTPUT);
137  analogWrite(Enb,currentDCSpeed);
138  
139  moveDirection(IRStop); // Vehicle.direction = DirectionForward
140  
141  pinMode(redLED, OUTPUT);   // red LED
142  pinMode(greenLED, OUTPUT); // green  LED
143}
144
145void loop() {
146
147  if (!safe2Proceed()){ // also controls red  LED
148     watchit=true; // we must take some action to avoid obstruction
149  }
150  else{
151     watchit=false;
152  }
153
154    buttonPressed=getRemoteSignal();
155    if(buttonPressed>0){
156
157      switch(buttonPressed) // -1 = unknown. I included  the other codes in comment, just in case. If these dont work. find out yourself.  
158      {
159      case 16716015://case 2351064443: // '4' = turn left
160          targetDirection=IRLeft;
161        break;
162      case 16718055: // case 1033561079: // '2' = straight on
163           targetDirection=IRForward;
164        break;
165      case 16734885:  // 71952287: // '6' = turn right
166           targetDirection=IRRight;
167        break;  
168      case 16730805:  // 465573243: // '8' = backwards 
169           targetDirection=IRBack;
170        break; 
171      case 16726215: // 1217346747: // '5' = stop
172           targetDirection=IRStop;
173        break;  
174        
175      case 16769055: //4034314555: // '-' = slow  down
176           decreaseSpeed();
177        break;
178      case 16754775: //2747854299:  // '+' = speed up
179           increaseSpeed();
180        break;  
181      }
182      
183      changeState=10*currentDirection + targetDirection; // check this  out!
184      changeDirection(changeState); // gradualy change speed of the motors,  in ordor to not to stress te motor-connections withe the frame.
185                                    //  if you are sure your connection is very firm, you can skip the changeDirection procedure.
186
187      moveDirection(targetDirection);
188      currentDirection=targetDirection;
189    }
190    
191    buttonPressed=0;
192    moveDirection(currentDirection);
193    
194} // loop
195
196boolean safe2Proceed(){
197  if (USaan){
198  unsigned  int distance=sonar.convert_cm(sonar.ping_median(5)); // to get a reliable value.  Default this will use a Timer interrupt, wich may be conflicting with either other  libraries
199                                                                //  or the default Arduino code. If you have a compiler, or rather, linking errors containing  'vect_7',
200                                                                //  set the USE_TIMER directive in newping.h to false.
201                                                                //  Thank you, Tim Eckel, the author of this library.
202  if (distance==0){
203    digitalWrite(greenLED,LOW);  // you could change this command with assembler code, much faster. I.E. : "PORTB  &= ~(1 << 4);" But I doubt you will ever notice the speed change.
204                                //  Code size will change to decrease the amount, however. Same goes for other digitalWrite  or digitalRead procedures.
205    return true;
206  }
207  else{
208    digitalWrite(greenLED,HIGH);  // "PORTB |= (1 << 4);"
209    signalLed(distance); 
210    return (distance>safeDistance);
211    }
212  }
213}
214
215void signalLed(int dist){
216  int index=0;
217  if(dist<=48){
218    index = ((dist-48)/-4); // linear equatation based on desired result graph.  Check it out yourself.
219    analogWrite(redLED,23*index);// glowing to bright  red scaled to 0..253. Index ranging between 0 and 11
220  }
221  else{
222    digitalWrite(redLED,LOW);//  Led off
223  }
224}
225
226void changeDirection(int state){
227  int speed=currentDCSpeed;
228  switch (state){
229      case FS:
230        while (speed>=DCMinSpeed){
231          speed-=SpeedStep;
232          delay(10);
233          moveOn(speed);
234        }
235      break;
236      case SF:
237        speed=DCMinSpeed;
238        while (speed<=currentDCSpeed){
239          speed+=SpeedStep;
240          delay(10);
241          moveOn(speed);
242        }
243      break;
244      case BS:
245        while (speed>=DCMinSpeed){
246          speed-=SpeedStep;
247          delay(10);
248          moveBack(speed);
249        }
250      break;
251      case SB:
252        speed=DCMinSpeed;
253        while  (speed<=currentDCSpeed){
254          speed+=SpeedStep;
255          delay(10);
256          moveBack(speed);
257        }
258      break;
259      case LS:
260        while  (speed>=DCMinSpeed){
261          speed-=SpeedStep;
262          delay(10);
263          moveLeft(speed);
264        }
265      break;
266      case SL:
267        speed=DCMinSpeed;
268        while (speed<=currentDCSpeed){
269          speed+=SpeedStep;
270          delay(10);
271          moveLeft(speed);
272        }
273      break;
274      case RS:
275        while  (speed>=DCMinSpeed){
276          speed-=SpeedStep;
277          delay(10);
278          moveRight(speed);
279        }
280      break;
281      case SR:
282        speed=DCMinSpeed;
283        while (speed<=currentDCSpeed){
284          speed+=SpeedStep;
285          delay(10);
286          moveRight(speed);
287        }
288      break;
289      case FR:
290        motorAChange(FS);
291        motorAChange(SB);
292      break;
293      case FB:
294        while (speed>DCMinSpeed){
295          speed-=SpeedStep;
296          delay(10);
297          moveOn(speed);
298        }
299        while (speed<currentDCSpeed){
300          speed+=SpeedStep;
301          delay(10);
302          moveBack(speed);
303        }
304      break;
305      case FL:
306        motorBChange(FS);
307        motorBChange(SB);
308      break;
309      case RF:
310        motorAChange(BS);
311        motorAChange(SF);
312      break;
313      case BF:
314         while (speed>DCMinSpeed){
315          speed-=SpeedStep;
316          delay(10);
317          moveBack(speed);
318        }
319        while  (speed<currentDCSpeed){
320          speed+=SpeedStep;
321          delay(10);
322          moveOn(speed);
323        }
324      break;
325      case LF:
326        motorBChange(BS);
327        motorBChange(SF);        
328      break;
329      case BL:
330        motorAChange(BS);
331        motorAChange(SF);
332      break;
333      case BR:
334        motorBChange(BS);
335        motorBChange(SF);
336      break;
337      case LB:
338        motorBChange(LS);
339        motorBChange(SB);
340      break;
341      case RB:
342        motorAChange(RS);
343        motorAChange(SB);
344      break;
345      case RL:
346        while (speed>DCMinSpeed){
347          speed-=SpeedStep;
348          delay(10);
349          moveRight(speed);
350        }
351        while (speed<currentDCSpeed){
352          speed+=SpeedStep;
353          delay(10);
354          moveLeft(speed);
355        }
356      break;
357      case LR:
358        while (speed>DCMinSpeed){
359          speed-=SpeedStep;
360          delay(10);
361          moveLeft(speed);
362        }
363        while  (speed<currentDCSpeed){
364          speed+=SpeedStep;
365          delay(10);
366          moveRight(speed);
367        }
368      break;
369  }
370}
371
372void  moveDirection(int dir){ // Implementation of the FSM controlling your direction  according to the IRdevice. 
373                             // I use a 'switch'  structure, which is fast and can be readily understood.
374                             //  in parallel the results of the US device (watchit) ar taken in consideration.
375    switch (dir) {           // target state
376      case IRForward:        //  straight on
377        USaan=true;
378        if (watchit){
379          changeDirection(FR);
380          currentDirection = IRForwardAvoid;
381        }
382        else{
383          currentDirection=IRForward;
384          moveOn(currentDCSpeed);
385        }
386    break;
387    case IRForwardAvoid:
388        if (!watchit){
389          changeDirection(RF);
390          currentDirection  = IRForward;
391          moveOn(currentDCSpeed);
392        }
393        else {
394          currentDirection= IRForwardAvoid;
395          moveRight(currentDCSpeed);
396          }
397    break;    
398    case IRBack:
399        USaan=false;
400        digitalWrite(greenLED,LOW);
401        currentDirection=IRBack;
402        moveBack(currentDCSpeed);
403        break;
404    case IRLeft:
405        USaan=true;
406        if(watchit){
407          changeDirection(LF);
408          currentDirection=IRLeftAvoid;
409        }
410        else{
411          currentDirection=IRLeft;
412          moveLeft(currentDCSpeed);
413        }
414    break;
415    case IRLeftAvoid:
416        if (!watchit){
417          currentDirection=IRLeft;
418          moveLeft(currentDCSpeed);
419        } 
420        else{
421          currentDirection=IRLeftAvoid;
422          moveOn(currentDCSpeed);
423        }
424    break;    
425    case IRRight:
426        USaan=true;
427        if(watchit){
428          changeDirection(RL);
429          currentDirection=IRRightAvoid;
430        }
431        else{
432          currentDirection=IRRight;
433          moveRight(currentDCSpeed);
434          }
435    break;
436    case IRRightAvoid:
437        if(!watchit){
438          currentDirection=IRRight;
439          changeDirection(LR);
440          moveRight(currentDCSpeed);
441        }
442        else{
443          currentDirection=IRRightAvoid;
444          moveLeft(currentDCSpeed);
445          }
446    break;    
447    case IRStop:
448        USaan=true;
449        if(watchit){
450          changeDirection(SB);
451          currentDirection=IRStopAvoid;
452          }
453        else{
454          currentDirection=IRStop;
455          moveNot(currentDCSpeed);
456          }
457    break;
458    case IRStopAvoid:
459        if(!watchit){
460          changeDirection(BS);
461          currentDirection=IRStop;
462          moveNot(currentDCSpeed);
463        }    
464        else{
465          currentDirection=IRStopAvoid;
466          moveBack(currentDCSpeed);
467        }
468    break;   
469    }
470  }
471void decreaseSpeed(){
472  if (currentDCSpeed>(SpeedStep-1)){
473    currentDCSpeed -=SpeedStep; 
474    }
475}
476void increaseSpeed(){
477  if  (currentDCSpeed<DCMaxSpeed-SpeedStep){
478    currentDCSpeed +=SpeedStep;
479    }
480}
481
482void  moveOn(int speed){ // currentspeed
483  digitalWrite(a1,LOW);  digitalWrite(a2,HIGH);  analogWrite(Ena,speed); // the digitalWrite functions can be replaced by register  calls, Faster and take up less memory.
484  digitalWrite(b1,LOW);  digitalWrite(b2,HIGH);  analogWrite(Enb,speed); // But again I doubt if it is noticable in speed. It will  in program size.
485}
486
487void moveBack(int speed){
488  digitalWrite(a1,HIGH);  digitalWrite(a2,LOW); analogWrite(Ena,speed); // the Arduino softwae is a bit  of a hog on memory space.
489  digitalWrite(b1,HIGH);  digitalWrite(b2,LOW); analogWrite(Enb,speed);  // I don't know enough of the analogWrite procedure to give any advice, except from,  DON'T tinker with it.
490}
491
492void moveLeft(int speed){
493  digitalWrite(a1,LOW);  digitalWrite(a2,HIGH); analogWrite(Ena,speed); // because it relies heavily on  the scarce Timer resources of the Arduino Uno.
494  digitalWrite(b1,HIGH); digitalWrite(b2,LOW);  analogWrite(Enb,speed);
495}
496
497void moveRight(int speed){
498  digitalWrite(a1,HIGH);  digitalWrite(a2,LOW);  analogWrite(Ena,speed);
499  digitalWrite(b1,LOW);  digitalWrite(b2,HIGH);  analogWrite(Enb,speed);
500}
501
502void moveNot(int speed){
503  digitalWrite(a1,LOW);  digitalWrite(a2,LOW);
504  digitalWrite(b1,LOW);  digitalWrite(b2,LOW);  
505}
506
507void  motorAChange(int mode){
508  int speed=currentDCSpeed;
509    switch(mode){
510      case ForwardStop:
511      while (speed >DCMinSpeed){
512        speed-=SpeedStep;
513        delay(10);
514        digitalWrite(a1,LOW); digitalWrite(a2,HIGH); analogWrite(Ena,speed);
515      }
516      break;
517      case BackwardStop:
518      while (speed > DCMinSpeed){
519        speed-=SpeedStep;
520        delay(10);
521        digitalWrite(a1,HIGH);  digitalWrite(a2,LOW); analogWrite(Ena,speed);
522      }
523      break;
524      case  StopForward:
525      speed=DCMinSpeed;
526      while (speed < currentDCSpeed){
527        speed+=SpeedStep;
528        delay(10);
529        digitalWrite(a1,LOW);  digitalWrite(a2,HIGH); analogWrite(Ena,speed);
530      }      
531      break;
532      case StopBackward:
533      speed=DCMinSpeed;
534      delay(10);
535      while  (speed < currentDCSpeed){
536        speed+=SpeedStep;
537        digitalWrite(a1,HIGH);  digitalWrite(a2,LOW); analogWrite(Ena,speed);
538      }
539      break;
540  }
541}
542void  motorBChange(int mode){
543int speed=currentDCSpeed;
544    switch(mode){
545      case  ForwardStop:
546      while (speed >DCMinSpeed){
547        speed-=SpeedStep;
548        delay(10);
549        digitalWrite(b1,LOW); digitalWrite(b2,HIGH); analogWrite(Enb,speed);
550      }
551      break;
552      case BackwardStop:
553      while (speed > DCMinSpeed){
554        speed-=SpeedStep;
555        delay(10);
556        digitalWrite(b1,HIGH);  digitalWrite(b2,LOW); analogWrite(Enb,speed);
557      }
558      break;
559      case  StopForward:
560      speed=DCMinSpeed;
561      while (speed < currentDCSpeed){
562        speed+=SpeedStep;
563        delay(10);
564        digitalWrite(b1,LOW);  digitalWrite(b2,HIGH); analogWrite(Enb,speed);
565      }      
566      break;
567      case StopBackward:
568      speed=DCMinSpeed;
569      while (speed < currentDCSpeed){
570        speed+=SpeedStep;
571        delay(10);
572        digitalWrite(b1,HIGH);  digitalWrite(b2,LOW); analogWrite(Enb,speed);
573      }
574      break;
575  }  
576}
577
578unsigned long getRemoteSignal(void){ // This is copied from the example.  IF you have another kind of IR device test and debug. use plenty of Serial.print...
579                                     // Hopefully you will only need different values  in your lookup table. See the library documentation
580                                     //  I think it would be a bad idea to transform all this into an Interrupt Service Routine.  Takes too much performance time...
581  unsigned long retval=0;
582  if (irrecv.decode(&results)){
583    int teller =0;           // originally global
584    boolean notfound = true;  // originally global
585    if (results.decode_type == -1) // due to initialy very  confusing errors/faults, I discovered the type -1 resluted in consistent button  values. 
586                                   // I do both now, one of them does  the job ...
587    {
588      while (teller< nobuttons && notfound) 
589      {
590        unsigned long button=results.value;
591        if (button==ff_code[teller])
592        { 
593          retval=button;
594          notfound = false;
595        }
596        teller++;
597      }
598    }
599    if (results.decode_type == 3) // DEC???
600    {
601      while (teller< nobuttons && notfound) 
602      {
603        unsigned  long button=results.value;
604        if (button==Button_DEC_code[teller])
605        {  
606          retval=button;
607          notfound = false;
608        }
609        teller++;
610      }
611    }
612    if (notfound)
613      {
614        String button=String(results.value,  HEX);
615        if (button.substring(0,6)!="ffffff") 
616        {
617          button.toUpperCase();
618        }
619      }
620    irrecv.resume(); // Receive the next value
621  }
622  return retval;
623}
624
625

#include <IRremote.h>
#include <NewPing.h> // to avoid compiling errors  in combination with the use of the IRremote library, you should set the '#define  TIMER_ENABLED' in this header file to false;
                     // this was  for a while a major headache. Eventually the author, Tim Eckel, provided the answer  in of the arduino forums. Thanks, M8!

// Finite State Machine implementation  using a switch statment used by the infrared remote control
#define IRForward  2
#define IRForwardAvoid 12 // 26? = FR
#define IRRight 6 
#define IRRightAvoid  16 //64? = RL
#define IRBack 8
#define IRLeft 4 
#define IRLeftAvoid 14  // 46? = LR
#define IRStop 5
#define IRStopAvoid 15 //58? = SB

  //  secundary transition states
  // StateID can be calculated by (10*currentDirection+targetDirection)
  // the mnemonic is tin the same way a simple combination of current- and target  direction
  
#define FS 25 // IRForward -> IRSTOP
#define BS 85 // IRBack    -> IRStop
#define LS 45 // Left      -> Stop
#define RS 65 // Right     ->  Stop
#define SF 52 // IRStop    -> IRForward
#define SB 58 // IRStop    ->  IRBack
#define SL 54 // Stop      -> Left
#define SR 56 // Stop      -> Right
#define  FR 26 // etc.
#define FB 28
#define FL 24
#define RF 62
#define BF 82
#define  LF 42
#define BL 84
#define BR 86
#define LB 48
#define RB 68
#define  RL 64
#define LR 46

// used by single motors
#define ForwardStop 25
#define  BackwardStop 25
#define StopForward 52
#define StopBackward 58

//pindefines

//motor  A, in my case the left one
#define Ena  10 //Enable, and speed control
#define  a1   8 // turning direction HIGH or LOW  or LOW. HIGH HIGH is nonsense. LOW LOW  makes the motor stop.
#define a2   7 // turning direction LOW  or HIGH or LOW

#define  Enb  9 //Enable, and speed control
#define b1   4
#define b2   6
// A word  to the wise. Do not use arduino ports 3 and 11 in situations where PFM on multiple  devices, even if only a LED is necessary. 
// It won't work. Hence the curious  use of the enable ports

#define LEDpin 14     // A0 Infrarood
#define  TrigPin 16    // A1 ultrasound
#define EchoPin 15    // A2 ultrasound
#define  redLED 5      // redLED must be PFM enabled ...
#define greenLED 12   // green  LED on/off only
#define BAUDRATE 9600 // debugging

//constants
const  int safeDistance=15;
const unsigned int maxDistance = 200;
const unsigned  int DCMaxSpeed = 255;
const unsigned int DCMinSpeed = 32;
const int SpeedStep  = 4;

const long Button_DEC_code[21] = 
  {
     16753245,     16736925,     16769565,
     16720605,     16712445,     16761405,
     //vol-,vol+,eq
     16769055,     16754775,     16748655,
     //0,100+,200+
     16738455,     16750695,     16756815,
     // the number buttons
     16724175,     16718055,     16743045,
     16716015,     16726215,     16734885,
     16728765,     16730805,     16732845
  };
const unsigned long ff_code[21] = // unknown IR device
  {
    3810010651,5316027,4001918335,
    1386468383,3622325019,553536955,
    4034314555,2747854299,3855596927,
    3238126971,2538093563,4039382595,
    2534850111,1033561079,1635910171,
    2351064443,1217346747,71952287,
    851901943,465573243,1053031451
  };


// global variables

int  IRstate=IRStop; 
int changeState=0;
boolean watchit=false; // obstruction  detected
boolean USaan=false;
unsigned int currentDCSpeed = 168;
unsigned  int lastDCSpeed=currentDCSpeed;
int tempDirection=0;

int currentDirection  = -1; 
int targetDirection = -1; 

// initialise infrared
const int  RECV_PIN = LEDpin;
IRrecv irrecv(RECV_PIN);
decode_results results; 
const  int nobuttons=21;
unsigned long buttonPressed=0;

// initialise ultrasound

NewPing  sonar(TrigPin, EchoPin, maxDistance);

void setup() {
  // put your setup  code here, to run once:
  pinMode(LEDpin,INPUT);
  Serial.begin(BAUDRATE);  
  irrecv.enableIRIn(); // Start the receiver
  // start motor A
  pinMode(Ena,OUTPUT);
  pinMode(a1,OUTPUT);
  pinMode(a2,OUTPUT);
  analogWrite(Ena,currentDCSpeed);  // necessary for some reason
  // start motor B
  pinMode(Enb,OUTPUT);
  pinMode(b1,OUTPUT);
  pinMode(b2,OUTPUT);
  analogWrite(Enb,currentDCSpeed);
  
  moveDirection(IRStop); // Vehicle.direction = DirectionForward
  
  pinMode(redLED, OUTPUT);   // red LED
  pinMode(greenLED, OUTPUT); // green  LED
}

void loop() {

  if (!safe2Proceed()){ // also controls red  LED
     watchit=true; // we must take some action to avoid obstruction
  }
  else{
     watchit=false;
  }

    buttonPressed=getRemoteSignal();
    if(buttonPressed>0){

      switch(buttonPressed) // -1 = unknown. I included  the other codes in comment, just in case. If these dont work. find out yourself.  
      {
      case 16716015://case 2351064443: // '4' = turn left
          targetDirection=IRLeft;
        break;
      case 16718055: // case 1033561079: // '2' = straight on
           targetDirection=IRForward;
        break;
      case 16734885:  // 71952287: // '6' = turn right
           targetDirection=IRRight;
        break;  
      case 16730805:  // 465573243: // '8' = backwards 
           targetDirection=IRBack;
        break; 
      case 16726215: // 1217346747: // '5' = stop
           targetDirection=IRStop;
        break;  
        
      case 16769055: //4034314555: // '-' = slow  down
           decreaseSpeed();
        break;
      case 16754775: //2747854299:  // '+' = speed up
           increaseSpeed();
        break;  
      }
      
      changeState=10*currentDirection + targetDirection; // check this  out!
      changeDirection(changeState); // gradualy change speed of the motors,  in ordor to not to stress te motor-connections withe the frame.
                                    //  if you are sure your connection is very firm, you can skip the changeDirection procedure.

      moveDirection(targetDirection);
      currentDirection=targetDirection;
    }
    
    buttonPressed=0;
    moveDirection(currentDirection);
    
} // loop

boolean safe2Proceed(){
  if (USaan){
  unsigned  int distance=sonar.convert_cm(sonar.ping_median(5)); // to get a reliable value.  Default this will use a Timer interrupt, wich may be conflicting with either other  libraries
                                                                //  or the default Arduino code. If you have a compiler, or rather, linking errors containing  'vect_7',
                                                                //  set the USE_TIMER directive in newping.h to false.
                                                                //  Thank you, Tim Eckel, the author of this library.
  if (distance==0){
    digitalWrite(greenLED,LOW);  // you could change this command with assembler code, much faster. I.E. : "PORTB  &= ~(1 << 4);" But I doubt you will ever notice the speed change.
                                //  Code size will change to decrease the amount, however. Same goes for other digitalWrite  or digitalRead procedures.
    return true;
  }
  else{
    digitalWrite(greenLED,HIGH);  // "PORTB |= (1 << 4);"
    signalLed(distance); 
    return (distance>safeDistance);
    }
  }
}

void signalLed(int dist){
  int index=0;
  if(dist<=48){
    index = ((dist-48)/-4); // linear equatation based on desired result graph.  Check it out yourself.
    analogWrite(redLED,23*index);// glowing to bright  red scaled to 0..253. Index ranging between 0 and 11
  }
  else{
    digitalWrite(redLED,LOW);//  Led off
  }
}

void changeDirection(int state){
  int speed=currentDCSpeed;
  switch (state){
      case FS:
        while (speed>=DCMinSpeed){
          speed-=SpeedStep;
          delay(10);
          moveOn(speed);
        }
      break;
      case SF:
        speed=DCMinSpeed;
        while (speed<=currentDCSpeed){
          speed+=SpeedStep;
          delay(10);
          moveOn(speed);
        }
      break;
      case BS:
        while (speed>=DCMinSpeed){
          speed-=SpeedStep;
          delay(10);
          moveBack(speed);
        }
      break;
      case SB:
        speed=DCMinSpeed;
        while  (speed<=currentDCSpeed){
          speed+=SpeedStep;
          delay(10);
          moveBack(speed);
        }
      break;
      case LS:
        while  (speed>=DCMinSpeed){
          speed-=SpeedStep;
          delay(10);
          moveLeft(speed);
        }
      break;
      case SL:
        speed=DCMinSpeed;
        while (speed<=currentDCSpeed){
          speed+=SpeedStep;
          delay(10);
          moveLeft(speed);
        }
      break;
      case RS:
        while  (speed>=DCMinSpeed){
          speed-=SpeedStep;
          delay(10);
          moveRight(speed);
        }
      break;
      case SR:
        speed=DCMinSpeed;
        while (speed<=currentDCSpeed){
          speed+=SpeedStep;
          delay(10);
          moveRight(speed);
        }
      break;
      case FR:
        motorAChange(FS);
        motorAChange(SB);
      break;
      case FB:
        while (speed>DCMinSpeed){
          speed-=SpeedStep;
          delay(10);
          moveOn(speed);
        }
        while (speed<currentDCSpeed){
          speed+=SpeedStep;
          delay(10);
          moveBack(speed);
        }
      break;
      case FL:
        motorBChange(FS);
        motorBChange(SB);
      break;
      case RF:
        motorAChange(BS);
        motorAChange(SF);
      break;
      case BF:
         while (speed>DCMinSpeed){
          speed-=SpeedStep;
          delay(10);
          moveBack(speed);
        }
        while  (speed<currentDCSpeed){
          speed+=SpeedStep;
          delay(10);
          moveOn(speed);
        }
      break;
      case LF:
        motorBChange(BS);
        motorBChange(SF);        
      break;
      case BL:
        motorAChange(BS);
        motorAChange(SF);
      break;
      case BR:
        motorBChange(BS);
        motorBChange(SF);
      break;
      case LB:
        motorBChange(LS);
        motorBChange(SB);
      break;
      case RB:
        motorAChange(RS);
        motorAChange(SB);
      break;
      case RL:
        while (speed>DCMinSpeed){
          speed-=SpeedStep;
          delay(10);
          moveRight(speed);
        }
        while (speed<currentDCSpeed){
          speed+=SpeedStep;
          delay(10);
          moveLeft(speed);
        }
      break;
      case LR:
        while (speed>DCMinSpeed){
          speed-=SpeedStep;
          delay(10);
          moveLeft(speed);
        }
        while  (speed<currentDCSpeed){
          speed+=SpeedStep;
          delay(10);
          moveRight(speed);
        }
      break;
  }
}

void  moveDirection(int dir){ // Implementation of the FSM controlling your direction  according to the IRdevice. 
                             // I use a 'switch'  structure, which is fast and can be readily understood.
                             //  in parallel the results of the US device (watchit) ar taken in consideration.
    switch (dir) {           // target state
      case IRForward:        //  straight on
        USaan=true;
        if (watchit){
          changeDirection(FR);
          currentDirection = IRForwardAvoid;
        }
        else{
          currentDirection=IRForward;
          moveOn(currentDCSpeed);
        }
    break;
    case IRForwardAvoid:
        if (!watchit){
          changeDirection(RF);
          currentDirection  = IRForward;
          moveOn(currentDCSpeed);
        }
        else {
          currentDirection= IRForwardAvoid;
          moveRight(currentDCSpeed);
          }
    break;    
    case IRBack:
        USaan=false;
        digitalWrite(greenLED,LOW);
        currentDirection=IRBack;
        moveBack(currentDCSpeed);
        break;
    case IRLeft:
        USaan=true;
        if(watchit){
          changeDirection(LF);
          currentDirection=IRLeftAvoid;
        }
        else{
          currentDirection=IRLeft;
          moveLeft(currentDCSpeed);
        }
    break;
    case IRLeftAvoid:
        if (!watchit){
          currentDirection=IRLeft;
          moveLeft(currentDCSpeed);
        } 
        else{
          currentDirection=IRLeftAvoid;
          moveOn(currentDCSpeed);
        }
    break;    
    case IRRight:
        USaan=true;
        if(watchit){
          changeDirection(RL);
          currentDirection=IRRightAvoid;
        }
        else{
          currentDirection=IRRight;
          moveRight(currentDCSpeed);
          }
    break;
    case IRRightAvoid:
        if(!watchit){
          currentDirection=IRRight;
          changeDirection(LR);
          moveRight(currentDCSpeed);
        }
        else{
          currentDirection=IRRightAvoid;
          moveLeft(currentDCSpeed);
          }
    break;    
    case IRStop:
        USaan=true;
        if(watchit){
          changeDirection(SB);
          currentDirection=IRStopAvoid;
          }
        else{
          currentDirection=IRStop;
          moveNot(currentDCSpeed);
          }
    break;
    case IRStopAvoid:
        if(!watchit){
          changeDirection(BS);
          currentDirection=IRStop;
          moveNot(currentDCSpeed);
        }    
        else{
          currentDirection=IRStopAvoid;
          moveBack(currentDCSpeed);
        }
    break;   
    }
  }
void decreaseSpeed(){
  if (currentDCSpeed>(SpeedStep-1)){
    currentDCSpeed -=SpeedStep; 
    }
}
void increaseSpeed(){
  if  (currentDCSpeed<DCMaxSpeed-SpeedStep){
    currentDCSpeed +=SpeedStep;
    }
}

void  moveOn(int speed){ // currentspeed
  digitalWrite(a1,LOW);  digitalWrite(a2,HIGH);  analogWrite(Ena,speed); // the digitalWrite functions can be replaced by register  calls, Faster and take up less memory.
  digitalWrite(b1,LOW);  digitalWrite(b2,HIGH);  analogWrite(Enb,speed); // But again I doubt if it is noticable in speed. It will  in program size.
}

void moveBack(int speed){
  digitalWrite(a1,HIGH);  digitalWrite(a2,LOW); analogWrite(Ena,speed); // the Arduino softwae is a bit  of a hog on memory space.
  digitalWrite(b1,HIGH);  digitalWrite(b2,LOW); analogWrite(Enb,speed);  // I don't know enough of the analogWrite procedure to give any advice, except from,  DON'T tinker with it.
}

void moveLeft(int speed){
  digitalWrite(a1,LOW);  digitalWrite(a2,HIGH); analogWrite(Ena,speed); // because it relies heavily on  the scarce Timer resources of the Arduino Uno.
  digitalWrite(b1,HIGH); digitalWrite(b2,LOW);  analogWrite(Enb,speed);
}

void moveRight(int speed){
  digitalWrite(a1,HIGH);  digitalWrite(a2,LOW);  analogWrite(Ena,speed);
  digitalWrite(b1,LOW);  digitalWrite(b2,HIGH);  analogWrite(Enb,speed);
}

void moveNot(int speed){
  digitalWrite(a1,LOW);  digitalWrite(a2,LOW);
  digitalWrite(b1,LOW);  digitalWrite(b2,LOW);  
}

void  motorAChange(int mode){
  int speed=currentDCSpeed;
    switch(mode){
      case ForwardStop:
      while (speed >DCMinSpeed){
        speed-=SpeedStep;
        delay(10);
        digitalWrite(a1,LOW); digitalWrite(a2,HIGH); analogWrite(Ena,speed);
      }
      break;
      case BackwardStop:
      while (speed > DCMinSpeed){
        speed-=SpeedStep;
        delay(10);
        digitalWrite(a1,HIGH);  digitalWrite(a2,LOW); analogWrite(Ena,speed);
      }
      break;
      case  StopForward:
      speed=DCMinSpeed;
      while (speed < currentDCSpeed){
        speed+=SpeedStep;
        delay(10);
        digitalWrite(a1,LOW);  digitalWrite(a2,HIGH); analogWrite(Ena,speed);
      }      
      break;
      case StopBackward:
      speed=DCMinSpeed;
      delay(10);
      while  (speed < currentDCSpeed){
        speed+=SpeedStep;
        digitalWrite(a1,HIGH);  digitalWrite(a2,LOW); analogWrite(Ena,speed);
      }
      break;
  }
}
void  motorBChange(int mode){
int speed=currentDCSpeed;
    switch(mode){
      case  ForwardStop:
      while (speed >DCMinSpeed){
        speed-=SpeedStep;
        delay(10);
        digitalWrite(b1,LOW); digitalWrite(b2,HIGH); analogWrite(Enb,speed);
      }
      break;
      case BackwardStop:
      while (speed > DCMinSpeed){
        speed-=SpeedStep;
        delay(10);
        digitalWrite(b1,HIGH);  digitalWrite(b2,LOW); analogWrite(Enb,speed);
      }
      break;
      case  StopForward:
      speed=DCMinSpeed;
      while (speed < currentDCSpeed){
        speed+=SpeedStep;
        delay(10);
        digitalWrite(b1,LOW);  digitalWrite(b2,HIGH); analogWrite(Enb,speed);
      }      
      break;
      case StopBackward:
      speed=DCMinSpeed;
      while (speed < currentDCSpeed){
        speed+=SpeedStep;
        delay(10);
        digitalWrite(b1,HIGH);  digitalWrite(b2,LOW); analogWrite(Enb,speed);
      }
      break;
  }  
}

unsigned long getRemoteSignal(void){ // This is copied from the example.  IF you have another kind of IR device test and debug. use plenty of Serial.print...
                                     // Hopefully you will only need different values  in your lookup table. See the library documentation
                                     //  I think it would be a bad idea to transform all this into an Interrupt Service Routine.  Takes too much performance time...
  unsigned long retval=0;
  if (irrecv.decode(&results)){
    int teller =0;           // originally global
    boolean notfound = true;  // originally global
    if (results.decode_type == -1) // due to initialy very  confusing errors/faults, I discovered the type -1 resluted in consistent button  values. 
                                   // I do both now, one of them does  the job ...
    {
      while (teller< nobuttons && notfound) 
      {
        unsigned long button=results.value;
        if (button==ff_code[teller])
        { 
          retval=button;
          notfound = false;
        }
        teller++;
      }
    }
    if (results.decode_type == 3) // DEC???
    {
      while (teller< nobuttons && notfound) 
      {
        unsigned  long button=results.value;
        if (button==Button_DEC_code[teller])
        {  
          retval=button;
          notfound = false;
        }
        teller++;
      }
    }
    if (notfound)
      {
        String button=String(results.value,  HEX);
        if (button.substring(0,6)!="ffffff") 
        {
          button.toUpperCase();
        }
      }
    irrecv.resume(); // Receive the next value
  }
  return retval;
}

Downloadable files

mini breadboard. on the right the IR sensor. The yellow wire goes into A01

motor board. left motor and right motor are self explaining. diver wires: at the bottom.

the leftmost orange wire is VIN: 9v. the rightmost orange feeds the Arduino with 5V. The blue one is ground Just above them the controller wire between Arduino and this board. inner ones for the polarty, outer ones for the speed control.

motor board. left motor and right motor are self explaining. diver wires: at the bottom.

mini breadboard. on the right the IR sensor. The yellow wire goes into A01

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