/*
    author : Patrick Dubois
    licence : none


    needs : IRremote Arduino Library  Version 3.3.0 (at least)
    needs :  Adafruit Motor Shield library Version 1.0.1 (for Adafruit Motor shield V1)
*/


/*
    Specify which protocol(s) should be used for decoding.
    If no protocol is defined, all protocols are active.
*/

//#define DECODE_DENON        // Includes Sharp
//#define DECODE_JVC
//#define DECODE_KASEIKYO
//#define DECODE_PANASONIC    // the same as DECODE_KASEIKYO
//#define DECODE_LG
#define DECODE_NEC            // Includes Apple and Onkyo
//#define DECODE_SAMSUNG
//#define DECODE_SONY
//#define DECODE_RC5
//#define DECODE_RC6

//#define DECODE_BOSEWAVE
//#define DECODE_LEGO_PF
//#define DECODE_MAGIQUEST
//#define DECODE_WHYNTER

#define DECODE_DISTANCE     // universal decoder for pulse width or pulse distance protocols
#define DECODE_HASH         // special decoder for all protocols

#include <AFMotor.h>

#define IR_USE_AVR_TIMER1   // by default used timer is TIMER2, also used by Adafruit_Motor-Shield-v1  - tx = pin 9
#define IR_RECEIVE_PIN      2    // To be compatible with interrupt example, pin 2 is chosen here.

#include <IRremote.h>

AF_DCMotor R_motor(1);          // defines Right motor connector
AF_DCMotor L_motor(2);          // defines Left motor connector

IRrecv irrecv(IR_RECEIVE_PIN);  // create instance of 'irrecv'

int iSpeed = 64;                // 48 - 240
int irSpeed;                    // relative speed when turning
bool bAvant;

void setup() {

  Serial.begin(115200);         // sets up Serial library at 115200 bps

  IrReceiver.begin(IR_RECEIVE_PIN, ENABLE_LED_FEEDBACK);
}

void loop() {

  int nValue = 0;

  if (IrReceiver.decode()) { // have we received an IR signal

    //    IrReceiver.printIRResultShort(&Serial);
    //    IrReceiver.printIRResultRawFormatted(&Serial, true);
    //    IrReceiver.printIRResultShort(&Serial);
    //    Serial.println(IrReceiver.decodedIRData.protocol);
    //    Serial.println(IrReceiver.decodedIRData.decodedRawData);
    //    Serial.println(IrReceiver.decodedIRData.address);
    //    Serial.println(IrReceiver.decodedIRData.command);
    nValue = IrReceiver.decodedIRData.command;

    Serial.println();
    Serial.println(nValue);

    switch (nValue) {

      case 69:                          // POWER
      case 71: {                        // FUNC/STOP
          //changes the following values to make the robot  drive as straight as possible
          R_motor.run(RELEASE);         // turns L motor off
          L_motor.run(RELEASE);         // turns R motor off
          break;
        }
      case 67: {                        // FAST FORWARD - TURN RIGHT ON RUNNING
          if (bAvant) {
            L_motor.run(FORWARD);
            R_motor.setSpeed(irSpeed);
            R_motor.run(FORWARD);
          }
          else {
            R_motor.run(BACKWARD);
            L_motor.setSpeed(irSpeed);
            L_motor.run(BACKWARD);
          }
          break;
        }
      case 68: {                        // FAST BACK - TURN LEFT ON RUNNING
          if (bAvant) {
            R_motor.run(FORWARD);
            L_motor.setSpeed(irSpeed);
            L_motor.run(FORWARD);
          }
          else {
            L_motor.run(BACKWARD);
            R_motor.setSpeed(irSpeed);
            R_motor.run(BACKWARD);
          }
          break;
        }
      case 64: {                        // START / PAUSE
          break;
        }
      case 21: {                        // VOL- - SPEED DOWN
          iSpeed = iSpeed > 32 ? iSpeed - 16 : iSpeed;
          irSpeed = iSpeed / 4;
          L_motor.setSpeed(iSpeed);      // sets L motor speed
          R_motor.setSpeed(iSpeed);      // sets R motor speed
          break;
        }
      case 70: {                        // VOL+ - SPEED UP
          iSpeed = iSpeed < 240 ? iSpeed + 16 : iSpeed;
          irSpeed = iSpeed / 4;
          L_motor.setSpeed(iSpeed);      // sets L motor speed
          R_motor.setSpeed(iSpeed);      // sets R motor speed
          break;
        }
      case 7: {                         // DOWN
          bAvant = false;
          L_motor.setSpeed(iSpeed);     // sets L motor speed
          R_motor.setSpeed(iSpeed);     // sets R motor speed
          R_motor.run(BACKWARD);
          L_motor.run(BACKWARD);
          break;
        }
      case 9: {                         // UP
          bAvant = true;
          L_motor.setSpeed(iSpeed);     // sets L motor speed
          R_motor.setSpeed(iSpeed);     // sets R motor speed
          R_motor.run(FORWARD);
          L_motor.run(FORWARD);
          break;
        }
      case 25: {                        // EQ
          break;
        }
      case 13: {                        // ST/REPT
          break;
        }
      case 22: {                        // 0
          break;
        }
      case 12: {                        // 1
          break;
        }
      case 24: {                        // 2
          break;
        }
      case 94: {                        // 3
          break;
        }
      case 8: {                         // 4  - TURN LEFT ON PLACE
          R_motor.run(FORWARD);
          L_motor.run(BACKWARD);
          break;
        }
      case 28: {                        // 5
          break;
        }
      case 90: {                        // 6  - TURN RIGHT ON PLACE
          L_motor.run(FORWARD);
          R_motor.run(BACKWARD);
          break;
        }
      case 66: {                        // 7
          break;
        }
      case 82: {                        // 8
          break;
        }
      case 74: {                        // 9
          break;
        }
    }   // end switch
    IrReceiver.resume(); // receive the next value
  }   // end if
  delay(250);

}   // end loop