/*
 * IRremoteESP8266: IRrecvDemo - demonstrates receiving IR codes with IRrecv
 * This is very simple teaching code to show you how to use the library.
 * If you are trying to decode your Infra-Red remote(s) for later replay,
 * use the IRrecvDumpV2.ino (or later) example code instead of this.
 * An IR detector/demodulator must be connected to the input kRecvPin.
 * Copyright 2009 Ken Shirriff, http://arcfn.com
 * Example circuit diagram:
 *  https://github.com/crankyoldgit/IRremoteESP8266/wiki#ir-receiving
 * Changes:
 *   Version 0.2 June, 2017
 *     Changed GPIO pin to the same as other examples.
 *     Used our own method for printing a uint64_t.
 *     Changed the baud rate to 115200.
 *   Version 0.1 Sept, 2015
 *     Based on Ken Shirriff's IrsendDemo Version 0.1 July, 2009
 */

#include <Arduino.h>
#include <IRremoteESP8266.h>
#include <IRrecv.h>
#include <IRutils.h>

#define MOTOR_PIN_AI1 5
#define MOTOR_PIN_AI2 2
#define MOTOR_PIN_SPEED 4

#define SPEED_CHANNEL 5
#define PWM_FREQ 20000
#define SPEED_RESOLUTION 8

//ESP32Servo
#include <ESP32Servo.h>
Servo myservo;
#define SERVO_PIN 32



// An IR detector/demodulator is connected to GPIO pin 14(D5 on a NodeMCU
// board).
// Note: GPIO 16 won't work on the ESP8266 as it does not have interrupts.
const uint16_t kRecvPin = 34;

IRrecv irrecv(kRecvPin);

decode_results results;

void setup() {
  Serial.begin(115200);
  irrecv.enableIRIn();  // Start the receiver
  while (!Serial)  // Wait for the serial connection to be establised.
    delay(50);
  Serial.println();
  Serial.print("IRrecvDemo is now running and waiting for IR message on Pin ");
  Serial.println(kRecvPin);

  //Motor Setup
  pinMode(MOTOR_PIN_AI1, OUTPUT);
  pinMode(MOTOR_PIN_AI2, OUTPUT);
  ledcSetup(SPEED_CHANNEL, PWM_FREQ, SPEED_RESOLUTION);
  ledcAttachPin(MOTOR_PIN_SPEED, SPEED_CHANNEL);

  //Servo Setup
  myservo.setPeriodHertz(50);
  myservo.attach(SERVO_PIN, 500, 2400);
  myservo.write(90);
}

void loop() {
  if (irrecv.decode(&results)) {
    // print() & println() can't handle printing long longs. (uint64_t)
    // serialPrintUint64(results.value, HEX);
   
    if (results.value == 0X9999)
    {
      Serial.println("Yes! we got 9999");
     
      //Drive forward
      digitalWrite(MOTOR_PIN_AI1, LOW);
      digitalWrite(MOTOR_PIN_AI2, HIGH);
      //set speed
      ledcWrite(SPEED_CHANNEL, 50);
     
      delay(1000);
     
      //Stop
      digitalWrite(MOTOR_PIN_AI1, LOW);
      digitalWrite(MOTOR_PIN_AI2, LOW);
    }
    if (results.value == 0X8888)
    {
      Serial.println("Yes! we got 8888");
      //Drive backward
      digitalWrite(MOTOR_PIN_AI1, HIGH);
      digitalWrite(MOTOR_PIN_AI2, LOW);
      //set speed
      ledcWrite(SPEED_CHANNEL, 50);    
      delay(1000);
      //Stop
      digitalWrite(MOTOR_PIN_AI1, LOW);
      digitalWrite(MOTOR_PIN_AI2, LOW);  
    }
    if (results.value == 0X7777)
    {
      Serial.println("Yes! we got 7777");
      //Move servo to 70
      myservo.write(70);
     
    }
    if (results.value == 0X6666)
    {
      Serial.println("Yes! we got 6666");
      //Move servo to 110
      myservo.write(110);
     
    }

    irrecv.resume();  // Receive the next value
  }
  delay(5);
}