Reading an IR signal and running one of 5 motors
You can build a simple RC5 decoder using a PIC microcontroller. 

Transmitter:
Use a universal remote with Phillips TV settings. RC5 is a protocol designed by Phillips for their TV, VCR, etc remote controls. By using RC5 protocol, you eliminate the need to design your transmitter. Just use any universal remote control and program it for Phillips TV. I have seen universal remotes floating at 99-cents only stores in Southern CA.

Receiver:
A RC5 decoder can be built around a PIC microcontrooler. Take a look at RC5 Decoder with PIC Microcontroller. This article describes RC5 protocol, hardware and software needed to decode RC5. You many have to change the code to your taste. To drive motors, use simple transistor drivers at PIC outputs. The motor driver depends on the type of motor you are using.