Getting constant motor power with IR board

[Jon Stratis]

One thing that might help you quite a bit would be to lay everything out in a state diagram, or a state machine. Wikipedia does an ok job with the general idea, with a few decent pictures. http://en.wikipedia.org/wiki/State_machine

The basic concept is to draw a bubble to represent discrete thing you want your robot to do during hybrid mode (for example, drive straight, turn to the left, stop). Then you draw arrows between the state and set conditions for those transitions. For example, you might have an arrow to the stop state and trigger that with a "4" signal. Then an arrow from stop to drive forward with a "1" signal. Other cases, you might have it time based - drive forward, and 5 seconds later turn left 180 degrees.

State machines are extremely powerful things, and are especially great for an application like this.