Robot with MLedMatrix panel, 4x servo's, Arduino Uno, and Adafruit 16bit PWM Driver

ir_robot.ino

#include "Wire.h"
#include "MeOrion.h"
#include "Adafruit_PWMServoDriver.h"
#include "IRremote.h"
#include "MatrixGraphics.h"

Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x41);
MeLEDMatrix ledMx(PORT_1);
int IR_PIN = 8;
int b=random(300,10000);

#define FORWARD  150 // this is the 'minimum' pulse length count (out of 4096)
#define REVERSE  600 // this is the 'maximum' pulse length count (out of 4096)
#define STOP  2048
#define FR  0
#define FL  1
#define RR  2
#define RL  3

IRrecv irDetect(IR_PIN);
decode_results irIn;

char *s = "HI";
char *t = "OK";

void setup()
{
  ledMx.setBrightness(2);
  ledMx.setColorIndex(1);
  ledMx.drawBitmap(0, 0, sizeof(Bitmap_Logo), Bitmap_Logo);
  delay(3000);
  ledMx.drawStr(2,7,s);
  delay(1000);
  ledMx.drawStr(1,7,t);
  delay(1000);
  ledMx.drawBitmap(0, 0, sizeof(Bitmap_EyesFR2), Bitmap_EyesFR2);
  irDetect.enableIRIn();
  pwm.begin();
  pwm.setPWMFreq(60); 
  yield();
}



void loop()
{
if (irDetect.decode(&irIn)) {
    decodeIR();
    irDetect.resume(); 
  }

 }


void decodeIR() // Indicate what key is pressed

{

  switch(irIn.value)

  {

  case 0xFF42BD:  
    ledMx.drawBitmap(0, 0, sizeof(Bitmap_Ir_Text), Bitmap_Ir_Text);
    delay(20);
    break;

  case 0xFF52AD:  
    ledMx.drawBitmap(0, 0, sizeof(Bitmap_Auto_Text), Bitmap_Auto_Text);
    delay(20);
    break;

  case 0xFF629D: //forward
      ledMx.drawBitmap(0, 0, sizeof(Bitmap_EyesFR2), Bitmap_EyesFR2);
      pwm.setPWM(FR, 0, FORWARD);
      pwm.setPWM(FL, 0, REVERSE);  // reverse on left is forward
      pwm.setPWM(RR, 0, FORWARD);
      pwm.setPWM(RL, 0, REVERSE);
     break;
  case 0xFF02FD: //stop (ok)
      ledMx.drawBitmap(0, 0, sizeof(Bitmap_EyesFR2), Bitmap_EyesFR2);
      pwm.setPWM(FR, 0, STOP);
      pwm.setPWM(FL, 0, STOP);
      pwm.setPWM(RR, 0, STOP);
      pwm.setPWM(RL, 0, STOP);
     break;
  case 0xFFC23D: //right
      ledMx.drawBitmap(0, 0, sizeof(Bitmap_EyesRight), Bitmap_EyesRight);
      pwm.setPWM(FR, 0, FORWARD);
      pwm.setPWM(FL, 0, FORWARD);
      pwm.setPWM(RR, 0, FORWARD);
      pwm.setPWM(RL, 0, FORWARD);
     break;
     
  case 0xFF22DD: // left 
      ledMx.drawBitmap(0, 0, sizeof(Bitmap_EyesLeft), Bitmap_EyesLeft);
      pwm.setPWM(FR, 0, REVERSE);
      pwm.setPWM(FL, 0, REVERSE); // forward is reverse on left
      pwm.setPWM(RR, 0, REVERSE
      );
      pwm.setPWM(RL, 0, REVERSE);
     break;
     
  case 0xFFA857: // reverse
      ledMx.drawBitmap(0, 0, sizeof(Bitmap_EyesUp), Bitmap_EyesUp);
      pwm.setPWM(FR, 0, REVERSE);
      pwm.setPWM(FL, 0, FORWARD); // forward is reverse on left
      pwm.setPWM(RR, 0, REVERSE);
      pwm.setPWM(RL, 0, FORWARD);
     break;
  default: 
    break;

  }
  }