Build a Hand Gesture Controlled Toy Car

//Connect the Receiver data pin to Arduino pin 11

#include <VirtualWire.h>
byte message[VW_MAX_MESSAGE_LEN]; // a buffer to store the incoming messages
byte messageLength = VW_MAX_MESSAGE_LEN; // the size of the message

#define ep 4
#define tp 3
int en1=9;
int en2=10;
int in1=5;
int in2=6;
int in3=7;
int in4=8;
int buzzerPin=2;
int ledPin=13;//led on pin 13 is ON except when bot is stationary
long duration, distance;

void setup()
{ 
 Serial.begin(9600);//Initialise theserial connection debugging

 pinMode(tp,OUTPUT);
 pinMode(ep,INPUT);
 pinMode(ledPin,OUTPUT);
 pinMode(buzzerPin,OUTPUT);
 pinMode(en1,OUTPUT);
 pinMode(en2,OUTPUT);
 pinMode(in1,OUTPUT);
 pinMode(in2,OUTPUT);
 pinMode(in3,OUTPUT);
 pinMode(in4,OUTPUT);

 vw_setup(2000); // Bits per sec
 vw_rx_start(); // Start the receiver
}
void loop()
{

  digitalWrite(tp,LOW);
  delayMicroseconds(2);
  digitalWrite(tp,HIGH);
  delayMicroseconds(10);
  digitalWrite(tp,LOW);
  duration=pulseIn(ep,HIGH);
  distance=duration/58.2;
  Serial.println(distance);
  if (distance < 10 )
  {
    Serial.print("Obstacle detected\n");
    digitalWrite(buzzerPin,HIGH);
  }
  else
  {
    Serial.print("Obstacle not detected\n");
    digitalWrite(buzzerPin,LOW);
  }
    
    uint8_t buf[VW_MAX_MESSAGE_LEN];
    uint8_t buflen = VW_MAX_MESSAGE_LEN;

    if (vw_get_message(buf, &buflen)) // Non-blocking
    {
  int i;

  Serial.print("Got: ");//debugging
  
  for (i = 0; i < buflen; i++)
  {
     Serial.print(buf[i],HEX);//You may also use integer values debugging
     Serial.print(' ');// debugging

          if (buf[i]==0x6F)//Stationary
          {
            digitalWrite(en1,LOW);
            digitalWrite(in1,LOW);  
            digitalWrite(in2,LOW);
            digitalWrite(en2,LOW);
            digitalWrite(in3,LOW);
            digitalWrite(in4,LOW);
          Serial.print("Stationary");
            digitalWrite(ledPin,LOW);
          }
          else
          {
            if(buf[i]==0x68)//Forward
            {
              digitalWrite(en1,HIGH);
              digitalWrite(in1,LOW);  
              digitalWrite(in2,HIGH);
              digitalWrite(en2,HIGH);
              digitalWrite(in3,HIGH);
              digitalWrite(in4,LOW);
            Serial.print("Forward");  
              digitalWrite(ledPin,HIGH);
            }
          
            if (buf[i]==0x69)//Backward
            {
              digitalWrite(en1,HIGH);
              digitalWrite(in1,HIGH);  
              digitalWrite(in2,LOW);
              digitalWrite(en2,HIGH);
              digitalWrite(in3,LOW);
              digitalWrite(in4,HIGH);
            Serial.print("Backward");  
              digitalWrite(ledPin,HIGH);
          }
          
            if (buf[i]==0x62)//Right 
            {
              digitalWrite(en1,HIGH);
              digitalWrite(in1,LOW);  
              digitalWrite(in2,LOW);
              digitalWrite(en2,HIGH);
              digitalWrite(in3,HIGH);
              digitalWrite(in4,LOW);
              Serial.print("Right");
              digitalWrite(ledPin,HIGH);
            }
          
            if (buf[i]==0x65)//Left 
            {
              digitalWrite(en1,HIGH);
              digitalWrite(in1,LOW);  
              digitalWrite(in2,HIGH);
              digitalWrite(en2,HIGH);
              digitalWrite(in3,LOW);
              digitalWrite(in4,LOW);
              Serial.print("Left");
              digitalWrite(ledPin,HIGH);
            }
           }   
    }
    Serial.print("\n");// debugging
        }
        delay(100);
}