/*Author: MrMad
 Date: 21.5.2018
 Board: Arduino UNO*/
//----------Libraries
#include <IRremote.h>
#include <SevSeg.h>
#include <Servo.h>
//----------Servos
Servo Servo1;  //Tongs
Servo Servo2;  //Wrist
Servo Servo3;  //Elbow
Servo Servo4;  //Shoulder
//----------Reciver
int reciver = 2;
IRrecv irrecv(reciver);
decode_results results;

//----------Variables
int position1 = 150;
int position2 = 50;
int position3 = 100;

//----------Setup
void setup() {
Servo1.attach(7);  //Tongs
Servo2.attach(9);  //Wrist
Servo3.attach(6);  //Elbow
Servo4.attach(8);  //Shoulder

Servo2.write(position1); //Basic position
Servo3.write(position2); // Basic position
Servo4.write(position3); // Basic position

irrecv.enableIRIn();
}

void loop() {
if (irrecv.decode(&results)) {
  translateIR();
  irrecv.resume();
  }
}
// You must change your sequences in Void translateIR() because you have another controler.
void translateIR() {
  switch(results.value) {
    case 0xFF30CF:
      Down1();
      break;
    case 0xFF10EF:
      Up1();
      break;
    case 0xFF18E7:
      Up2();
      break;
    case 0xFF38C7:
      Down2();
      break;
    case 0xFF7A85:
      Up3();
      break;
    case 0xFF5AA5:
      Down3();
      break;
    case 0xFF906F:
      Open();
      break;
    case 0xFFA857:
      Close();
      break;
  }
delay(50);
}
//----------Functions
void Up1() {
  position1 = position1 + 15;
  Servo2.write(position1);
  delay(50);
}
void Down1() {
  position1 = position1 - 15;
  Servo2.write(position1);
  delay(50);
}
void Up2() {
  position2 = position2 + 10;
  Servo3.write(position2);
  delay(100);
  position2 = position2 + 5;
  Servo3.write(position2);
  delay(50);
}
void Down2() {
  position2 = position2 - 10;
  Servo3.write(position2);
  delay(100);
  position2 = position2 - 5;
  Servo3.write(position2);
  delay(50);
}
void Up3() {
  position3 = position3 + 15;
  Servo4.write(position3);
  delay(50);
}
void Down3() {
  position3 = position3 - 15;
  Servo4.write(position3);
  delay(50);
}
void Open() {
  Servo1.write(50);
  delay(50);
}
void Close() {
  Servo1.write(180);
  delay(50);
}