I made it some years before, maybe it solved your request:
http://www.heroeslug.cn/2016/03/17/用rc枪控操纵乐高电机/
sorry it is in Chinese, and maybe you can not view the video because you are not in China.
In short, you need:
1. RC transceiver and receiver, $15
2. Arduino board, e.g. Digispark, $2
3. Infrared Transceiver, $3
4. battery box(4AA or 4AAA), and some wires.
sorry I have no rights to upload image or video to eb.