Not doing homework

What do you do with children when they would rather do anything else than to clean their room, do their homework, do chores?

Age nine I give him a task to do he will fix toys he will do anything else except for what I asked him to do I am very upset because it seems like he doesn't respect me I give him almost everything he could dreams about he has amazing toys we just bought him a large trampoline in the backyard and he has fun days especially over the summer we go to parks have lots of fun family activities and there's ice cream popsicles pizza so things he asks for he says mom can you make me this for lunch I'm there I plan and think about what is best for him and it upsets me today he was spitting out cherry seeds and stems I asked him to please sweep it up he said yes but it's already bedtime and he hasn't picked up after himself it's those things where I ask him to get something done in the morning and by bedtime it's still not done and I'm so frustrated what do you do when your children don't want to do chores, homework, clean up after themselves??