IR serial connection

Do you really not have a current limiting resistor in series with your IR LED?

You may be able to check if the IR LED is working by using a mobile phone camera. Test the camera first on a TV remote to make sure that it has no IR filter, then see if you can pick anything up from your LED.

  if(Serial.available()){
    while(Serial.available()) {
      IR.write(Serial.read());
    }
  }

You don't need the if statement since the while is making the same test.