/* Rolly_Robot Pro Mini 18 July 2014 JDS

IR Codes for DVR Remote
16720350 MULT
16763190 POWER
16716270 SEARCH
16714230 |<
16718310 ||<
16724430 |>
16728510 >||
16726470 >>
16761150 >|
16771350 ADD
16746870 FN
16742790 MENU
16767270 LEFT
16750950 RIGHT
16755030 UP
16734630 DOWN
16769310 1
16736670 2
16752990 3
16765230 4
16732590 5
16748910 6
16773390 7
16740750 8
16757070 9
16730550 0
16738710 ESC
16722390 -/--
Repeat 4294967295

Left servo pin 10
Right servo pin 11
IR is on pin 12

 The IR sensor's pins to Arduino like so:
 Pin 1 to Vout (pin 12 on Arduino)
 Pin 2 to GND
 Pin 3 to Vcc (+5v from Arduino)
*/

#include <IRremote.h>
#include <Servo.h>

int IRpin = 12;  // pin for the IR sensor
int LED = 13;    // LED pin
IRrecv irrecv(IRpin);
decode_results results;
unsigned long PrevResult;

Servo servoRight;
int servoRightZero = 1500;
int servoRightDirection = -1;

Servo servoLeft;
int servoLeftZero = 1500;
int servoLeftDirection = 1;

int Speed = 50;
int rightSpeed = 0;
int leftSpeed = 0;

void setup() {
  irrecv.enableIRIn(); // Start the receiver
  Serial.begin(9600);
}
void loop() {
  digitalWrite(LED, LOW);
  if (irrecv.decode(&results))
  { Serial.println(PrevResult);
    digitalWrite(LED, HIGH);
    switch (results.value)
    {
      case 16755030://forward
        PrevResult = 16755030;
        servoRight.attach(11);
        servoLeft.attach(10);
        Serial.println("Forward");
        servoRightDirection = -1;
        servoLeftDirection = 1;
        rightSpeed = Speed;
        leftSpeed = Speed;
        break;

      case 16742790://stop
        PrevResult = 16742790;
        Serial.println("Stop");
        //rightSpeed = 0;
        //leftSpeed = 0;
        servoRight.detach();
        servoLeft.detach();
        break;

      case 16734630://backward
        PrevResult = 16734630;
        servoRight.attach(11);
        servoLeft.attach(10);
        Serial.println("Backward");
        servoRightDirection = 1;
        servoLeftDirection = -1;
        rightSpeed = Speed;
        leftSpeed = Speed;
        break;

      case 16767270://left
        PrevResult = 16767270;
        servoRight.attach(11);
        servoLeft.attach(10);
        Serial.println("Left turn");
        rightSpeed = Speed;
        leftSpeed = Speed / 2;
        break;

      case 16750950://right
        PrevResult = 16750950;
        servoRight.attach(11);
        servoLeft.attach(10);
        Serial.println("Right turn");
        rightSpeed = Speed / 2;
        leftSpeed = Speed;
        break;

      case 16771350://ADD
        PrevResult = 16771350;
        servoRight.attach(11);
        servoLeft.attach(10);
        Serial.println("Left Dime");
        servoRightDirection = -1;
        servoLeftDirection = -1;
        rightSpeed = Speed;
        leftSpeed = Speed;
        break;

      case 16746870://FN
        PrevResult = 16746870;
        servoRight.attach(11);
        servoLeft.attach(10);
        Serial.println("Right Dime");
        servoRightDirection = 1;
        servoLeftDirection = 1;
        rightSpeed = Speed;
        leftSpeed = Speed;
        break;

      case 16718310://||< Slower
        PrevResult = 16718310;
        Serial.print("Slower ");
        if (Speed >= 10)
        {
          Speed = Speed - 10;
        }
        rightSpeed = Speed;
        leftSpeed = Speed;
        Serial.println(Speed);
        break;

      case 16726470://>> Faster
        PrevResult = 16726470;
        Serial.print("Faster ");
        if (Speed < 120)
        {
          Speed = Speed + 10;
        }
        rightSpeed = Speed;
        leftSpeed = Speed;
        Serial.println(Speed);
        break;
        
      case 4294967295:// repeat
        if (PrevResult == 16718310) //slower
        {
          if (Speed >= 10)
        {
          Speed = Speed - 10;
          delay(250);//blocking delay to slow speed change
        }
        rightSpeed = Speed;
        leftSpeed = Speed;
        }
        
        if (PrevResult == 16726470) //faster
        {
          if (Speed < 120)
        {
          Speed = Speed + 10;
          delay(250);//blocking delay to slow speed change
        }
        rightSpeed = Speed;
        leftSpeed = Speed;
        }
        break;
    }

    servoLeft.writeMicroseconds(servoLeftZero + leftSpeed * servoLeftDirection);
    servoRight.writeMicroseconds(servoRightZero + rightSpeed * servoRightDirection);

    irrecv.resume();
  }
}