def IRControl(self):
        sockid = lirc.init("robot_ir", "lircrc")
        dist_per_leypress = 30.0 #cm
        while True:
            #self.motor.stop()
            code = lirc.nextcode()[0]
            print(code)
            if code == "FORWARD":
                self.motor.forward()
                time.sleep(dist_per_leypress / self.motor.DIST_PER_SEC)
                self.motor.stop()
            elif code == "LEFT_FORWARD":
                # 30 degree turn left, then stop
                self.motor.forwardRight()
                time.sleep(self.motor.SEC_PER_TURN / 360.0 * 30.0)
                self.motor.stop()
            elif code == "RIGHT_FORWARD":
                # 30 degree turn right, then stop
                self.motor.forwardLeft()
                time.sleep(self.motor.SEC_PER_TURN / 360.0 * 30.0)
                self.motor.stop()
            elif code == "LEFT":
                self.motor.forwardRight()
                time.sleep(self.motor.SEC_PER_TURN / 360.0 * 90.0)
                self.motor.stop()
            elif code == "RIGHT":
                self.motor.forwardLeft()
                time.sleep(self.motor.SEC_PER_TURN / 360.0 * 90.0)
                self.motor.stop()
            elif code == "BACKWARD":
                self.motor.backward()
                time.sleep(dist_per_leypress / self.motor.DIST_PER_SEC)
                self.motor.stop()
            elif code == "LEFT_BACKWARD":
                # 30 degree turn left back, then stop
                self.motor.backwardRight()
                time.sleep(self.motor.SEC_PER_TURN / 360.0 * 30.0)
                self.motor.stop()
            elif code == "RIGHT_BACKWARD":
                # 30 degree turn right back, then stop
                self.motor.backwardLeft()
                time.sleep(self.motor.SEC_PER_TURN / 360.0 * 30.0)
                self.motor.stop()
            elif code == "STOP":
                self.motor.stop()
            elif code == "LINE_FOLLOW_ON":
                self.lineFollowModeOn()