6 DoF Robotic Arm with omnidirectional moving base and joystick remote control

1#include <SoftwareSerial.h>
2#define led 13
3#define btn1 0
4#define btn2 1
5#define btn3 2
6#define btn4 3
7#define btn5 4
8#define btn6 5
9#define btn7 6
10#define btn8 7
11#define btn9 8
12#define btn10 9
13#define btn11 10
14#define btn12 11
15SoftwareSerial HC12(16,17);
16void blink_led()
17 {
18  digitalWrite(led,HIGH);
19  delay(250); 
20  digitalWrite(led,LOW);
21 }
22void setup() 
23 {
24   HC12.begin(9600);
25   pinMode(led,OUTPUT);
26   for(int ip=0;ip<13;ip++) pinMode(ip,INPUT_PULLUP);
27 }
28void loop() 
29{
30  int x1,y1;
31  char trns_ch;
32  x1 = analogRead(A0);
33  y1 = analogRead(A1);
34  if(y1<=300)
35    {
36      trns_ch = 'W';
37      HC12.print(trns_ch);
38      blink_led();
39    }
40  if(y1>=700)
41    {
42      trns_ch = 'X';
43      HC12.print(trns_ch);
44      blink_led();
45    } 
46  if(x1>700)  
47     {
48      trns_ch = 'D';
49      HC12.print(trns_ch);
50      blink_led();
51    }     
52  if(x1<300)  
53     {
54      trns_ch = 'A';
55      HC12.print(trns_ch);
56      blink_led();
57    } 
58   if((x1>700) && (y1>700))
59    {
60      trns_ch = 'E';
61      HC12.print(trns_ch);
62      blink_led();
63    }  
64   if((x1<300) && (y1>700))
65    {
66      trns_ch = 'Q';
67      HC12.print(trns_ch);
68      blink_led();
69    }
70   if((x1>700) && (y1<300))
71    {
72      trns_ch = 'C';
73      HC12.print(trns_ch);
74      blink_led();
75    }
76   if((x1<300) && (y1<300))
77    {
78      trns_ch = 'Z';
79      HC12.print(trns_ch);
80      blink_led();
81    } 
82   if(digitalRead(btn1)==0)
83     {
84      trns_ch = 'P';
85      HC12.print(trns_ch);
86      blink_led();
87    }   
88   if(digitalRead(btn2)==0)
89     {
90      trns_ch = 'O';
91      HC12.print(trns_ch);
92      blink_led();
93    } 
94   if(digitalRead(btn3)==0)
95     {
96      trns_ch = 'I';
97      HC12.print(trns_ch);
98      blink_led();
99    }  
100   if(digitalRead(btn4)==0)
101     {
102      trns_ch = 'U';
103      HC12.print(trns_ch);
104      blink_led();
105    } 
106   if(digitalRead(btn5)==0)
107     {
108      trns_ch = 'Y';
109      HC12.print(trns_ch);
110      blink_led();
111    }   
112   if(digitalRead(btn6)==0)
113     {
114      trns_ch = 'T';
115      HC12.print(trns_ch);
116      blink_led();
117    }
118   if(digitalRead(btn7)==0)
119     {
120      trns_ch = 'R';
121      HC12.print(trns_ch);
122      blink_led();
123    } 
124   if(digitalRead(btn8)==0)
125     {
126      trns_ch = 'L';
127      HC12.print(trns_ch);
128      blink_led();
129    }                                               
130   if(digitalRead(btn9)==0)
131     {
132      trns_ch = 'K';
133      HC12.print(trns_ch);
134      blink_led();
135    } 
136   if(digitalRead(btn10)==0)
137     {
138      trns_ch = 'J';
139      HC12.print(trns_ch);
140      blink_led();
141    }   
142   if(digitalRead(btn11)==0)
143     {
144      trns_ch = 'H';
145      HC12.print(trns_ch);
146      blink_led();
147    }
148   if(digitalRead(btn12)==0)
149     {
150      trns_ch = 'G';
151      HC12.print(trns_ch);
152      blink_led();
153    }                            
154}