Start of Remote

gistfile1.txt

#include <Servo.h>  //servo library
Servo myservo;
#include <IRremote.h>// create servo object to control servo

int Echo = A4;  
int Trig = A5;

#define FORWARD 16736925
//#define JUNK1 4294967295
//#define JUNK2 3343195340
#define ONE 16738455
#define BACK 16754775
#define LEFT 16720605
#define RIGHT 16761405
#define STOP 16712445
#define RECV_PIN 12
#define LED 13 //define LED pin
#define L 16738455
#define UNKNOWN_L 1386468383
#define ENA 5
#define ENB 6
#define IN1 7
#define IN2 8
#define IN3 9
#define IN4 11
#define carSpeed 250

IRrecv irrecv(RECV_PIN);
decode_results results;
unsigned long val;
unsigned long preMillis;
int rightDistance = 0, leftDistance = 0, middleDistance = 0;
bool isAutonomous = false;
int lastpressed = -1;
String str;

void forward(){ 
  analogWrite(ENA, carSpeed);
  analogWrite(ENB, carSpeed);
  digitalWrite(IN1, HIGH);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, HIGH);
  Serial.println("Forward");
}

void back() {
  analogWrite(ENA, carSpeed);
  analogWrite(ENB, carSpeed);
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, HIGH);
  digitalWrite(IN3, HIGH);
  digitalWrite(IN4, LOW);
  Serial.println("Back");
}

void left() {
  analogWrite(ENA, carSpeed);
  analogWrite(ENB, carSpeed);
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, HIGH);
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, HIGH); 
  Serial.println("Left");
}

void right() {
  analogWrite(ENA, carSpeed);
  analogWrite(ENB, carSpeed);
  digitalWrite(IN1, HIGH);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, HIGH);
  digitalWrite(IN4, LOW);
  Serial.println("Right");
}

void pause() {
  digitalWrite(ENA, LOW);
  digitalWrite(ENB, LOW);
//  Serial.println("Pause!");
} 

//Ultrasonic distance measurement Sub function
int Distance_test() {
  digitalWrite(Trig, LOW);   
  delayMicroseconds(2);
  digitalWrite(Trig, HIGH);  
  delayMicroseconds(20);
  digitalWrite(Trig, LOW);   
  float Fdistance = pulseIn(Echo, HIGH);  
  Fdistance= Fdistance / 58;       
  return (int)Fdistance;
}  

void setup() { 
  myservo.attach(3,700,2400);  // attach servo on pin 3 to servo object
  Serial.begin(9600);     
  pinMode(Echo, INPUT);    
  pinMode(Trig, OUTPUT);  
  pinMode(IN1, OUTPUT);
  pinMode(IN2, OUTPUT);
  pinMode(IN3, OUTPUT);
  pinMode(IN4, OUTPUT);
  pinMode(ENA, OUTPUT);
  pinMode(ENB, OUTPUT);
  pause();
  irrecv.enableIRIn();
} 

//void infrared(){
//  if (irrecv.decode(&results)){
//    preMillis = millis();
//    val = results.value;
//    Serial.println(val);
//    irrecv.resume();
//    switch(val){
//      case FORWARD: forward(); break;
//      case BACK: back(); break;
//      case LEFT: left(); break;
//      case RIGHT: right(); break;
//      case STOP: isAutonomous = true; break;
//      default: break;  
//    }
//  }
//  else{
//    if(millis() - preMillis > 500){
//      pause();
//      preMillis = millis();
//    }
//  }
//}


void loop() { 

  if (irrecv.decode(&results)){
    preMillis = millis();
    val = results.value;
    //str = "Result: " + val;
//    Serial.print("Result : ");
    Serial.println(val);
    irrecv.resume();
    switch(val){
      case FORWARD:isAutonomous = false; lastpressed = 0; forward(); break;
      case BACK: isAutonomous = false; lastpressed = 1;  back(); break;
      case LEFT: isAutonomous = false; lastpressed = 2;  left(); break;
      case RIGHT: isAutonomous = false; lastpressed = 3;  right(); break;
      case ONE: isAutonomous = true; lastpressed = 4; ObstacleAvoidance();  break;
      case STOP: lastpressed = 5; pause(); break;
//      default: 
//        Serial.println("In Default");
//        if (lastpressed  == 0 || lastpressed == 1 || lastpressed == 2 || lastpressed == 3) 
//          { 
//            pause(); 
//            Serial.println("Pausing in Default");
//             };  
//             break;
//        }
  
    
    }
  }
  
  else{
  
    if(millis() - preMillis > 500){
//      pause();
      preMillis = millis();
    }

    
  }

  switch(lastpressed){
      case 0: break;
      case 1: break;
      case 2: break;
      case 3: break;
      case 4: ObstacleAvoidance(); break;
      case -1: break;
    }


  
//  if (isAutonomous){
//    ObstacleAvoidance();
//  }
//  else {
//    infrared();     
//  }
        
}



void ObstacleAvoidance () {
//  Serial.println("Entering obstacleAvoidance");
 
  myservo.write(90);  //setservo position according to scaled value
    delay(500); 
    middleDistance = Distance_test();

    if(middleDistance <= 40) {     
      pause();
      delay(500);                         
      myservo.write(10);          
      delay(1000);      
      rightDistance = Distance_test();
      
      delay(500);
      myservo.write(90);              
      delay(1000);                                                  
      myservo.write(180);              
      delay(1000); 
      leftDistance = Distance_test();
      
      delay(500);
      myservo.write(90);              
      delay(1000);
      if(rightDistance > leftDistance) {
        right();
        delay(400);
        pause();
      }
      else if(rightDistance < leftDistance) {
        left();
        delay(400);
        pause();
      }
      else if((rightDistance <= 40) || (leftDistance <= 40)) {
        back();
        delay(180);
      }
      else {
        forward();
      }
    }  
    else {
        forward();
    }        
}