I already know how to find the value of the buttons on the remote using serial monitor but don't know the code to control motors (forward,backwards,left and right) can anyone help me?
you may make a differential-drive robot. To make your robot move forward,backwards,left and right, the only thing you should do is to control the direction and the speed of both left motor and right motor. As for the code... Here is my concept, analog input 4 control signal: left direction, right direction, left speed, right speed(you can use 2 swiches to generate direction signal, and 2 potentiometers to generate speed signal). Then map the speed signal to the range you need or you can use PID control algorithm or something to deal with the input speed control signal and output a PWM driving signal. As for the direction signal, output it directly. Then send the 4 output signal(2 speed signal and 2 direction signal) to a motor driver sheild to make it move. If necessary, a feed-back system can be applied to make your control system complete.