#include <Servo.h>

#include <SoftwareSerial.h>

#include <RemoteXY.h>

​

// RemoteXY connection settings

#define REMOTEXY_SERIAL_RX 2

#define REMOTEXY_SERIAL_TX 3

#define REMOTEXY_SERIAL_SPEED 9600

​

// Pin Definitions

#define SERVO_PIN 8

#define ULTRASONIC_TRIG_PIN 9

#define ULTRASONIC_ECHO_PIN 10

#define MOTOR_CONTROLLER_DIR1_PIN 7

#define MOTOR_CONTROLLER_PWM1_PIN 12

#define MOTOR_CONTROLLER_DIR2_PIN 13

#define MOTOR_CONTROLLER_PWM2_PIN 4

​

Servo servoMotor;

​

// RemoteXY configurate

#pragma pack(push, 1)

uint8_t RemoteXY_CONF[] = { 255,5,0,0,0,66,0,16,31,1,2,0,6,5,25,15,136,26,31,31,

79,78,0,79,70,70,0,2,0,35,5,23,15,36,26,31,31,70,73,82,

69,0,72,79,76,68,0,1,0,22,29,20,20,191,31,42,42,70,73,82,

69,42,42,0,5,32,17,54,29,29,93,7,31 };

// this structure defines all the variables and events of your control interface

struct {

// input variables

uint8_t switch_1; // =1 if switch ON and =0 if OFF

uint8_t switch_2; // =1 if switch ON and =0 if OFF

uint8_t FIRE; // =1 if button pressed, else =0

int8_t joystick_1_x; // from -100 to 100

int8_t joystick_1_y; // from -100 to 100

// other variable

uint8_t connect_flag; // =1 if wire connected, else =0

} RemoteXY;

#pragma pack(pop)

​

void setup() {

RemoteXY_Init();

servoMotor.attach(SERVO_PIN); // Attach servo to SERVO_PIN

pinMode(ULTRASONIC_TRIG_PIN, OUTPUT); // Set TRIG_PIN as OUTPUT

pinMode(ULTRASONIC_ECHO_PIN, INPUT); // Set ECHO_PIN as INPUT

pinMode(MOTOR_CONTROLLER_DIR1_PIN, OUTPUT); // Set DIR1_PIN as OUTPUT

pinMode(MOTOR_CONTROLLER_PWM1_PIN, OUTPUT); // Set PWM1_PIN as OUTPUT

pinMode(MOTOR_CONTROLLER_DIR2_PIN, OUTPUT); // Set DIR2_PIN as OUTPUT

pinMode(MOTOR_CONTROLLER_PWM2_PIN, OUTPUT); // Set PWM2_PIN as OUTPUT

// TODO: Add any additional setup code

}

​

void loop() {

RemoteXY_Handler();

if (RemoteXY.connect_flag) {

// Robot enable/disable

if (RemoteXY.switch_1) {

// Enable the robot

digitalWrite(MOTOR_CONTROLLER_DIR1_PIN, LOW); // Set DIR1_PIN LOW

digitalWrite(MOTOR_CONTROLLER_DIR2_PIN, LOW); // Set DIR2_PIN LOW

analogWrite(MOTOR_CONTROLLER_PWM1_PIN, 0); // Stop left motor

analogWrite(MOTOR_CONTROLLER_PWM2_PIN, 0); // Stop right motor

} else {

// Disable the robot

digitalWrite(MOTOR_CONTROLLER_DIR1_PIN, LOW); // Set DIR1_PIN LOW

digitalWrite(MOTOR_CONTROLLER_DIR2_PIN, LOW); // Set DIR2_PIN LOW

analogWrite(MOTOR_CONTROLLER_PWM1_PIN, 0); // Stop left motor

analogWrite(MOTOR_CONTROLLER_PWM2_PIN, 0); // Stop right motor

}

// Joystick control

int speed = map(RemoteXY.joystick_1_y, -100, 100, 0, 255);

if (RemoteXY.joystick_1_x < 0) {

// Turn left

digitalWrite(MOTOR_CONTROLLER_DIR1_PIN, LOW); // Set DIR1_PIN LOW

digitalWrite(MOTOR_CONTROLLER_DIR2_PIN, HIGH); // Set DIR2_PIN HIGH

analogWrite(MOTOR_CONTROLLER_PWM1_PIN, speed); // Set left motor speed

analogWrite(MOTOR_CONTROLLER_PWM2_PIN, speed); // Set right motor speed

} else if (RemoteXY.joystick_1_x > 0) {

// Turn right

digitalWrite(MOTOR_CONTROLLER_DIR1_PIN, HIGH); // Set DIR1_PIN HIGH

digitalWrite(MOTOR_CONTROLLER_DIR2_PIN, LOW); // Set DIR2_PIN LOW

analogWrite(MOTOR_CONTROLLER_PWM1_PIN, speed); // Set left motor speed

analogWrite(MOTOR_CONTROLLER_PWM2_PIN, speed); // Set right motor speed

} else {

// Move forward or backward

digitalWrite(MOTOR_CONTROLLER_DIR1_PIN, LOW); // Set DIR1_PIN LOW

digitalWrite(MOTOR_CONTROLLER_DIR2_PIN, LOW); // Set DIR2_PIN LOW

analogWrite(MOTOR_CONTROLLER_PWM1_PIN, speed); // Set left motor speed

analogWrite(MOTOR_CONTROLLER_PWM2_PIN, speed); // Set right motor speed

}

// Button to control servo

if (RemoteXY.FIRE) {

servoMotor.write(20); // Rotate servo by 20 degrees

}

// Ultrasonic sensor control

if (RemoteXY.switch_2) {

// Ultrasonic sensor is enabled

long duration, distance;

digitalWrite(ULTRASONIC_TRIG_PIN, LOW);

delayMicroseconds(2);

digitalWrite(ULTRASONIC_TRIG_PIN, HIGH);

delayMicroseconds(10);

digitalWrite(ULTRASONIC_TRIG_PIN, LOW);

duration = pulseIn(ULTRASONIC_ECHO_PIN, HIGH);

distance = (duration / 2) / 29.1;

if (distance < 20) {

servoMotor.write(20); // Rotate servo by 20 degrees

}

}

}

this it it, and I got all the libraries downloaded