#include <IRremote.h>
int receiver = 12; // Signal Pin of IR receiver to Arduino Digital Pin 12
IRrecv irrecv(receiver);     // create instance of 'irrecv'
decode_results results;      // create instance of 'decode_results'
int Mode=0;

int ENA=6; // DC motor
int ENB=5;
int N1=7;
int N2=8;
int N3=9;
int N4=11;

int middle=4; // Line tracker
int right=10;
int left=2;
int M=0;
int R=0;
int L=0;

void setup(){
  irrecv.enableIRIn();
  Serial.begin(9600);
  pinMode(N1,OUTPUT); // DC motor
  pinMode(N2,OUTPUT);
  pinMode(N3,OUTPUT);
  pinMode(N4,OUTPUT);

  pinMode(middle,INPUT);// Line tracker
  pinMode(right,INPUT);
  pinMode(left,INPUT);
}
void loop(){
  if (irrecv.decode(&results)){
      modeCheck();
      irrecv.resume(); // receive the next value
  }
  
  (Your Code)

}
void modeCheck(){
    if (Your code)
    {
      Mode=1;
    }
    else if (Your code)
    {
      Mode=2;
    }
    else if (Your code){
      Mode=4; // Just stop
    }
}

void translateIR() // takes action based on IR code received
{
  if (Mode==1)
      switch(results.value)
      {
      case 0xFF629D: goForward(); break;
      case 0xFF22DD: turnLeft(); break;
      case 0xFF02FD: stopCar(); break;
      case 0xFFC23D: turnRight(); break;
      case 0xFFA857: goBack(); break;
      }
  }
  else if (Mode==2){
      M=digitalRead(middle);
      R=digitalRead(right);
      L=digitalRead(left);
      if (M==0 && R==1 && L==1){
        goForward();
      }
      else if (Your Code){
        turnRight();
      }
      else if (Your Code){
        turnLeft();
      }
  }
  else if (Mode==4){
      stopCar();
   }
}
void goForward(){

	(Your Code)

}
void goBack(){

	(Your Code)

}
void turnLeft(){

	(Your Code)

}
void turnRight(){

	(Your Code)

}
void stopCar(){

	(Your Code)

}