#include <VirtualWire.h>

int LA = 3;
int LB = 11;
int RA = 5;
int RB = 6;
void setup()
{
Serial.begin(9600);
vw_set_ptt_inverted(true); // Required for DR3100
vw_set_rx_pin(12);
vw_setup(4000);  // Bits per sec
pinMode(13, OUTPUT);
pinMode(LA, OUTPUT);
pinMode(LB, OUTPUT);
pinMode(RA, OUTPUT);
pinMode(RB, OUTPUT);
vw_rx_start();       // Start the receiver PLL running
Serial.println("All OK");

}
    void loop()
{
    uint8_t buf[VW_MAX_MESSAGE_LEN];
    uint8_t buflen = VW_MAX_MESSAGE_LEN;

if (vw_get_message(buf, &buflen)) // Non-blocking
{
if((buf[0]=='X')&&(buf[1]=='1'))
  {   
  Serial.println("BACKWARD");
  backward();
  delay(100);
  //off();
  }  
      
      
else if((buf[0]=='X')&&(buf[1]=='2'))
  {  
  Serial.println("FORWARD");
  forward();
  delay(100);
  //off();
  }

else if((buf[0]=='Y')&&(buf[1]=='1'))
  {  
   Serial.println("LEFT");
   left();
   delay(100);
   //off();
  }

else if((buf[0]=='Y')&&(buf[1]=='2'))
  {  
  Serial.println("RIGHT");
  right();
  delay(100);
  //off();
  }
else if((buf[0]=='A')&&(buf[1]=='1'))
  {  
  Serial.println("STOP");
  off();
  delay(100);
  }
      
}
else
{
  Serial.println("No Signal Received");
}
}

void forward()
{ 
  analogWrite(LA, 70);
  analogWrite(LB, 0);
  analogWrite(RA, 70);
  analogWrite(RB, 0);
}

void backward()
{ 
  analogWrite(LA, 0);
  analogWrite(LB, 70);
  analogWrite(RA, 0);
  analogWrite(RB, 70);
}

void left()
{ 
  analogWrite(LA, 0);
  analogWrite(LB, 70);
  analogWrite(RA, 70);
  analogWrite(RB, 0);
}

void right()
{ 
  analogWrite(LA, 70);
  analogWrite(LB, 0);
  analogWrite(RA, 0);
  analogWrite(RB, 70);
}

void off()
{ 
  analogWrite(LA, 0);
  analogWrite(LB, 0);
  analogWrite(RA, 0);
  analogWrite(RB, 0);
}