Line Following Not Working When Activated By IR

this code:

code: [select]


#include <irremote.h>
//line following
int sensor_1 = 0, sensor_2 = 0, sensor_3 = 0; //sensors
int flag = 0, current_flag = 0, counter = 0; //used count how many times car reverses.
string patch = ""; //used counter int string error later on.
string line_value = ""; //string value combines(not adds) sensor values give cases. patch comes in.

//pin assigment.
int receiverpin = 12; //the pin ir
unsigned long red; //used store incoming commands.
//
#define 16736925 //down ----->

#define b 16754775

#define x 16712445

#define c 16720605

#define d 16761405

#define e 5316027

#define f 2747854299

#define y 3622325019

#define g 1386468383

#define h 553536955 // make car go forward, back, left, right , stop.

#define 16738455  // code # related number 1 on remote

#define j 16750695  // code # related number 2 on remote

#define k 16756815  //code # related number 3 on remote

#define l 16724175  // code # related number 4 on remote
// abc...'s cases red value.
irrecv irrecv(receiverpin); //recive
decode_results results; //decode



//the pin identication put setup, because made code neater.
void setup()
{
  serial.begin(9600); // set serial communication

  pinmode(receiverpin, input); // ir stuff
  irrecv.enableirin();
 
  pinmode(10, input); // line follower s1
  pinmode(4, input); //  line follower s2
  pinmode(2, input); //  line follower s3

  pinmode(6, output); // wheel 1
  pinmode(7, output); // wheel 2
  pinmode(8, output); // wheel 3
  pinmode(9, output); // wheel 4

  pinmode(5, output); // enable a
  pinmode(11, output); // enable b
  analogwrite(5, 120); //change speed of motors.(0~255)
  analogwrite(11, 120);
}
void loop()
{
  if (irrecv.decode(&results))
  {
    int red = results.value;
    serial.println(red);
    irrecv.resume();
    delay(150);
    switch (red) {
      case a:
        dforward();
        break;
      case b:
        dback();
        break;
      case c:
        dleft();
        break;
      case d:
        dright();
        break;
      case e:
        dforward();
        break;
      case f:
        dback();
        break;
      case g:
        dleft();
        break;
      case h:
        dright();
        break;
      case x:
        dstop();
        break;
      case y:
        dstop();
        break;
      case i:
        _shake();
        dstop();
        break;
      case j:
        _rod();
        dstop();
        break;
      case k:
        _stayng(); //wrong song name car dances verses "slide left, slide right, criss cross".
        dstop();
        break;
      case l:  // new code excuted when 4 on remote pressed.
        //forward_move();
        sensors_testing();
        black_line_check();
    }
  }
}








void forward_move()
{
  digitalwrite(6, 1); // forward right
  digitalwrite(7, 0); // reverse right
  digitalwrite(8, 0); // reverse left
  digitalwrite(9, 1); // forward left
  // if did reverse before forward_move ..... increment 1
  if (current_flag == 1)
  {
    counter++;
    current_flag = 0;
  }
  if (counter == 15)
  { serial.println("180 degrees");
    rotate_right();
    delay(5000);
    counter = 0;
  }
}
//these movements line following.
void reverse_move()
{
  digitalwrite(6, 0); // forward right
  digitalwrite(7, 1); // reverse right
  digitalwrite(8, 1); // reverse left
  digitalwrite(9, 0); // forward left
}
void rotate_right()
{
  digitalwrite(6, 0); // forward right
  digitalwrite(7, 1); // reverse right
  digitalwrite(8, 0); // reverse left
  digitalwrite(9, 1); // forward left
}
void rotate_left()
{
  digitalwrite(6, 1); // forward right
  digitalwrite(7, 0); // reverse right
  digitalwrite(8, 1); // reverse left
  digitalwrite(9, 0); // forward left
}
void turn_right()
{
  digitalwrite(6, 0); // forward right
  digitalwrite(7, 0); // reverse right
  digitalwrite(8, 0); // reverse left
  digitalwrite(9, 1); // forward left
}
void turn_left()
{
  digitalwrite(6, 1); // forward right
  digitalwrite(7, 0); // reverse right
  digitalwrite(8, 0); // reverse left
  digitalwrite(9, 0); // forward left
}
void stop()
{ if (flag == 0)
  {
    digitalwrite(6, 0); // forward right
    digitalwrite(7, 0); // reverse right
    digitalwrite(8, 0); // reverse left
    digitalwrite(9, 0); // forward left
  }
  if (flag == 1)
  {
    reverse_move();
    current_flag = 1;
    serial.println(patch + counter);
  }

}

void sensors_testing()
{
  sensor_1 = digitalread(10); // left   sensor
  sensor_2 = digitalread(4); // center  sensor
  sensor_3 = digitalread(2); // right    sensor
  line_value = patch + sensor_1 + sensor_2 + sensor_3;
  serial.println(line_value);
  //delay(800);
}

void black_line_check()
{
  if (line_value == "111")
  {
    serial.println("forward_move()");
    forward_move();
    flag = 1;
  }
  if (line_value == "010")
  {
    serial.println("forward_move()");
    forward_move();
    flag = 1;
  }
  if (line_value == "100")
  {
    serial.println("rotate_left()");
    rotate_left();
    flag = 1;
  }
  if (line_value == "001")
  {
    serial.println("rotate_right()");
    rotate_right();
    flag = 1;
  }
  if (line_value == "110")
  {
    serial.println("turn_left()");
    turn_left();
    flag = 1;
  }
  if (line_value == "000")
  {
    serial.println("stop()");
    stop();
  }
  if (line_value == "011")
  {
    serial.println("turn_right()");
    turn_right();
    flag = 1;
  }

//genaral actions , functions.
}
void dforward()
{
  digitalwrite(5, high);
  digitalwrite(11, high);
  digitalwrite(6, high); //digital output
  digitalwrite(7, low);
  digitalwrite(8, low);
  digitalwrite(9, high);
  serial.println("forward");
}
void dback()
{
  digitalwrite(5, high);
  digitalwrite(11, high);
  digitalwrite(6, low);
  digitalwrite(7, high);
  digitalwrite(8, high);
  digitalwrite(9, low);
  serial.println("back");
}
void dleft()
{
  digitalwrite(5, high);
  digitalwrite(11, high);
  digitalwrite(6, high);
  digitalwrite(7, low);
  digitalwrite(8, high);
  digitalwrite(9, low);
  serial.println("left");
}
void dright()
{
  digitalwrite(5, high);
  digitalwrite(11, high);
  digitalwrite(6, low);
  digitalwrite(7, high);
  digitalwrite(8, low);
  digitalwrite(9, high);
  serial.println("right");
}
void dstop()
{
  digitalwrite(5, low);
  digitalwrite(11, low);
  serial.println("stop!");
}
void _snaker()
{
  dright();
  delay(50);
  dleft();
  delay(50);
  dforward();
  delay(50);
  dright();
  delay(50);
  dleft();
  delay(50);
  dright();
  delay(50);
  dleft();
  delay(50);
}
void _snake()
{
  (int var2 = 0; var2 <= 20; var2++) {
    _snaker();
    if (var2 == 20) {
      break;
      serial.println("rod 1 done");
    }
  }
}
void _rodr()
{
  dforward();
  delay(100);
  dback();
  delay(100);
}
void _rod()
{
  (int var1 = 0; var1 <= 5; var1++) {
    _rodr();
  }
}
void _shaker()
{
  dright();
  delay(40);
  dleft();
  delay(40);
}
void _shake()
{
  (int var3 = 0; var3 <= 30; var3++) {
    _shaker();
  }
}
void _stayng() {
  dleft();
  delay(200);
  dstop();
  delay(100);
  dforward();
  delay(200);
  dstop();
  delay(700);
  dright();
  delay(420);
  dstop();
  delay(100);
  dforward();
  delay(300);
  dstop();
  delay(300);
  dleft();
  delay(220);
  dstop();
  delay(1000);
  dright();
  delay(200);
  dleft();
  delay(300);
  dstop();
  delay(1000);
}


what want line tracking activated ir , continue looping until stopped ir. when pressed 4 on remote activates line following case turns left endlessly(until press stop).
any ideas on how make work?

code: [select]

    int red = results.value;
the value field of results struct not int.

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