INO

#include <IRremote.h>

#define IR_RECEIVE_PIN 3

#define RIGHT_FORWARD 4

#define RIGHT_BACKWARD 5

#define LEFT_FORWARD 7

#define LEFT_BACKWARD 6

#define TRIG_PIN A5

#define ECHO_PIN A4

#define BUZZER_PIN 11

// SMALL IR REMOTE

// #define UP_ARROW 24

// #define DOWN_ARROW 82

// #define LEFT_ARROW 8

// #define RIGHT_ARROW 90

// BIG IR REMOTE ===

#define UP_ARROW 22

#define DOWN_ARROW 26

#define LEFT_ARROW 81

#define RIGHT_ARROW 80

#define RIGHT_ARROW_1 1728

#define MIDDLE_ARROW 104

#define UP_VOLUME 7

#define DOWN_VOLUME 11

int Distance;

long previousMillis = 0;

long Interval = 400;  // millis()

void setup() {

  Serial.begin(115200);

  IrReceiver.begin(IR_RECEIVE_PIN);

  pinMode(LEFT_FORWARD, OUTPUT);

  pinMode(LEFT_BACKWARD, OUTPUT);

  pinMode(RIGHT_FORWARD, OUTPUT);

  pinMode(RIGHT_BACKWARD, OUTPUT);

  pinMode(TRIG_PIN, OUTPUT);

  pinMode(ECHO_PIN, INPUT);

  pinMode(BUZZER_PIN, OUTPUT);

  BEEP();

  BEEP();

}

void loop() {

  checkdistance();

  if (millis() - previousMillis > Interval) {

    Stop();

    Serial.println("===============     NOT RF");

  }

  if (IrReceiver.decode()) {

    Serial.println("Receiver  IR  Code");

    Serial.println(IrReceiver.decodedIRData.command);

    previousMillis = millis();

    if (IrReceiver.decodedIRData.command == DOWN_ARROW) {

      Backward();

    } else if (IrReceiver.decodedIRData.command == UP_ARROW) {

      Forward();

    }

    if (IrReceiver.decodedIRData.command == LEFT_ARROW) {

      LeftOneWheel();

    } else if (IrReceiver.decodedIRData.command == RIGHT_ARROW) {

      RightOneWheel();

    }

    IrReceiver.resume();

  }

}

void checkdistance() {

  digitalWrite(TRIG_PIN, LOW);

  delayMicroseconds(2);

  digitalWrite(TRIG_PIN, HIGH);

  delayMicroseconds(10);

  digitalWrite(TRIG_PIN, LOW);

  Distance = pulseIn(ECHO_PIN, HIGH, 100000) / 58.00;

  Serial.println(Distance);

  delay(10);

  if (Distance < 12) {

    BEEP();

  }

}

void BEEP() {

  digitalWrite(BUZZER_PIN, HIGH);

  delay(50);

  digitalWrite(BUZZER_PIN, LOW);

  delay(50);

}

void Forward() {

  BEEP();

  digitalWrite(RIGHT_FORWARD, HIGH);

  digitalWrite(RIGHT_BACKWARD, LOW);

  digitalWrite(LEFT_FORWARD, HIGH);

  digitalWrite(LEFT_BACKWARD, LOW);

}

void Backward() {

  BEEP();

  digitalWrite(RIGHT_FORWARD, LOW);

  digitalWrite(RIGHT_BACKWARD, HIGH);

  digitalWrite(LEFT_FORWARD, LOW);

  digitalWrite(LEFT_BACKWARD, HIGH);

}

void RightOneWheel() {

  BEEP();

  digitalWrite(RIGHT_FORWARD, LOW);

  digitalWrite(RIGHT_BACKWARD, LOW);

  digitalWrite(LEFT_FORWARD, HIGH);

  digitalWrite(LEFT_BACKWARD, LOW);

}

void LeftOneWheel() {

  BEEP();

  digitalWrite(RIGHT_FORWARD, HIGH);

  digitalWrite(RIGHT_BACKWARD, LOW);

  digitalWrite(LEFT_FORWARD, LOW);

  digitalWrite(LEFT_BACKWARD, LOW);

}

void Stop() {

  digitalWrite(RIGHT_FORWARD, LOW);

  digitalWrite(RIGHT_BACKWARD, LOW);

  digitalWrite(LEFT_FORWARD, LOW);

  digitalWrite(LEFT_BACKWARD, LOW);

}