#include <IRremote.h>
int RECV_PIN = 12;
IRrecv irrecv(RECV_PIN);
decode_results results;
int ENA = 5;
int ENB = 10;
int pinLB = 2;         // defining pin2 left rear
int pinLF = 4;         // defining pin4 left front
int pinRB = 7;         // defining pin7 right rear
int pinRF = 8;         // defining pin8 right front

void setup()
{
  pinMode(pinLB, OUTPUT); // pin2
  pinMode(pinLF, OUTPUT); // pin4
  pinMode(pinRB, OUTPUT); // pin7
  pinMode(pinRF, OUTPUT); // pin8
  pinMode(ENA, OUTPUT); //
  pinMode(ENB, OUTPUT); //
  irrecv.enableIRIn(); // Start the receiver
  Serial.begin(9600);
}
void loop()
{
  if (irrecv.decode(&results)) {
    int a = results.value;
    Serial.println(a, HEX);
    if (a == 0x629D) {
    advance();
      delay(3000);  
      stopp();   
    }
     if (a == 0x22DD) {
    turnL();
      delay(400);     
      stopp();
    }
     if (a == 0xC23D) {
    turnR();
      delay(400);   
      stopp();  
    }
     if (a == 0xA857) {
    back();
      delay(3000);     
      stopp();
    }
     if (a == 0x02FD) {
   stopp();
     delay(1000);     
     stopp();
     }
    if(a== 0x18E7) {
      
     
   
    
    이부분입니다(초음파센서)
    
    
    
    
    }
    irrecv.resume(); // Receive the next value
  }
}
void advance()     // going forward
{
  digitalWrite(pinRB, LOW); // making motor move towards right rear
  digitalWrite(pinRF, HIGH);
  digitalWrite(pinLB, LOW); // making motor move towards left rear
  digitalWrite(pinLF, HIGH);
  analogWrite(ENA, 150);
  analogWrite(ENB, 150);
}

void turnL()        //turning right(dual wheel)
{
  digitalWrite(pinRB, LOW); //making motor move towards right rear
  digitalWrite(pinRF, HIGH);
  digitalWrite(pinLB, HIGH);
  digitalWrite(pinLF, LOW); //making motor move towards left front
  analogWrite(ENA, 150);
  analogWrite(ENB, 150);
}
void turnR()        //turning left(dual wheel)
{
  digitalWrite(pinRB, HIGH);
  digitalWrite(pinRF, LOW );  //making motor move towards right front
  digitalWrite(pinLB, LOW);  //making motor move towards left rear
  digitalWrite(pinLF, HIGH);
  analogWrite(ENA, 150);
  analogWrite(ENB, 150);
}
void stopp()         //stop
{
  digitalWrite(pinRB, HIGH);
  digitalWrite(pinRF, HIGH);
  digitalWrite(pinLB, HIGH);
  digitalWrite(pinLF, HIGH);
  analogWrite(ENA, 150);
  analogWrite(ENB, 150);
}
void back()          //back up
{
  digitalWrite(pinRB, HIGH); //making motor move towards right rear
  digitalWrite(pinRF, LOW);
  digitalWrite(pinLB, HIGH); //making motor move towards left rear
  digitalWrite(pinLF, LOW);
  analogWrite(ENA, 150);
  analogWrite(ENB, 150);
} 
 
리모콘으로 차가 상자안으로 직진해서(여기까지는 조종, 코드짠부분입니다) 
 거기서 초음파센서로 장애물을 인식하고 되돌아나와 자율주행하는 부분의 코드를 짜야하는데 버튼하나를 지정하라고 해서 저희는 
5번(0x18E7)버튼으로 지정을했고 , 이 버튼을 누르면 초음파센서가 작동해서 출발지점으로 다시  되돌아 나오도록 해야하는것같습니다 .
어려움이 있어 자문을 구하고자 글씁니다~!