RC Car with laser turret!

1//Include Libraries
2#include <nRF24L01.h>
3#include <RF24.h>
4#include  <SPI.h>
5//Creates objects
6#define A 2
7#define B 3
8#define C 4
9#define  D 5
10#define E 6
11int X = A0;
12int Y = A1;
13
14RF24 radio(9, 10);
15const  uint64_t pipe = 0xE6E6E6E6E6E6;
16char msg[20] = "";
17
18void setup() {
19  //Define buttons of the shield as Input
20  pinMode(A, INPUT);
21  pinMode(B,  INPUT);
22  pinMode(C, INPUT);
23  pinMode(D, INPUT);
24  pinMode(E, INPUT);
25  digitalWrite(A, HIGH);
26  digitalWrite(B, HIGH);
27  digitalWrite(C, HIGH);
28  digitalWrite(D, HIGH);
29  digitalWrite(E, HIGH);
30  //Starts the RF module
31  radio.begin();
32  radio.openWritingPipe(pipe);
33}
34
35void loop() {
36
37  if (digitalRead(A) == LOW) { //Moves the turret pointer up
38    char msg[] =  "up";
39    radio.write(&msg, sizeof(msg));
40  }
41  if (digitalRead(C) ==  LOW) { //Moves the turret pointer down
42    char msg[] = "down";
43    radio.write(&msg,  sizeof(msg));
44  }
45  if (digitalRead(B) == LOW) { //Moves the turret to left
46    char msg[] = "leftturret";
47    radio.write(&msg, sizeof(msg));
48  }
49  if (digitalRead(D) == LOW) { //Moves the turret to right
50    char msg[] = "rightturret";
51    radio.write(&msg, sizeof(msg));
52  }
53  if (digitalRead(E) == LOW) { //Shots
54    char msg[] = "shot";
55    radio.write(&msg, sizeof(msg));
56  }
57  if  (analogRead(X) < 450) { //Turn left
58    char msg[] = "left";
59    radio.write(&msg,  sizeof(msg));
60  }
61  if (analogRead(X) > 550) { //Turn right
62    char msg[]  = "right";
63    radio.write(&msg, sizeof(msg));
64  }
65  if (analogRead(Y)  > 550) { //Go forward
66    char msg[] = "forward";
67    radio.write(&msg,  sizeof(msg));
68  }
69  if (analogRead(Y) < 450) { //Go backward
70    char msg[]  = "backward";
71    radio.write(&msg, sizeof(msg));
72  }
73  else { //Nothing  happens
74    char msg[] = "analgobut";
75    radio.write(&msg, sizeof(msg));
76  }
77}

1//include libraries
2#include <nRF24L01.h>
3#include <RF24.h>
4#include  <SPI.h>
5#include <Servo.h>
6//Create objects
7int RightMotorF = 2;
8int  RightMotorB = 3;
9int LeftMotorF = 4;
10int LeftMotorB = 5;
11int laser = 8;
12Servo  turret1;
13Servo turret2;
14int pos1 = 90;
15int pos2 = 90;
16RF24 radio(9,  10);
17const uint64_t pipe = 0xE6E6E6E6E6E6;
18char data[20] = "";
19
20void  setup() {
21  //Starts thee RF module
22  radio.begin();
23  radio.openReadingPipe(1,  pipe);
24  radio.startListening();
25  //Servo motor pins
26  turret1.attach(6);
27  turret2.attach(7);
28  //Define motor pins as output
29  pinMode(RightMotorB,  OUTPUT);
30  pinMode(LeftMotorB, OUTPUT);
31  pinMode(RightMotorF, OUTPUT);
32  pinMode(LeftMotorF, OUTPUT);
33  //Define laser as output
34  pinMode(laser,  OUTPUT);
35}
36void loop() {
37  String msg = "";
38  if ( radio.available()  )
39  {
40    radio.read( data, sizeof(data) );
41    Serial.println(data);
42    msg = data;
43
44    if (msg == "forward") //Go forward
45    {
46      digitalWrite(RightMotorB,  HIGH);
47      digitalWrite(LeftMotorB, HIGH);
48      digitalWrite(RightMotorF,  LOW);
49      digitalWrite(LeftMotorF, LOW);
50
51    }
52    else if (msg ==  "backward") //Go backward
53    {
54      digitalWrite(RightMotorB, LOW);
55      digitalWrite(LeftMotorB, LOW);
56      digitalWrite(RightMotorF, HIGH);
57      digitalWrite(LeftMotorF, HIGH);
58    }
59    else if (msg == "left")  //Turn left
60    {
61      digitalWrite(RightMotorB, LOW);
62      digitalWrite(LeftMotorB,  HIGH);
63      digitalWrite(RightMotorF, LOW);
64      digitalWrite(LeftMotorF,  LOW);
65    }
66    else if (msg == "right") //Turn right
67    {
68      digitalWrite(RightMotorB,  HIGH);
69      digitalWrite(LeftMotorB, LOW);
70      digitalWrite(RightMotorF,  LOW);
71      digitalWrite(LeftMotorF, LOW);
72    }
73    else if (msg == "rightturret")  //Turret base turn right
74    {
75      pos1++;
76    }
77    else if (msg  == "leftturret") { //Turret base turn left
78      pos1--;
79    }
80    else  if (msg == "up") //Turret pointer go up
81    {
82      pos2++;
83    }
84    else if (msg == "down") {//Turret pointer go down
85      pos2--;
86    }
87    else if (msg == "shot") { //Shots laser 
88      digitalWrite(laser, HIGH);
89      delay(50);
90      digitalWrite(laser, LOW);
91      delay(50);
92    }
93    else if (msg == "analgobut") //If nothing happens
94    {
95      digitalWrite(RightMotorB,  LOW);
96      digitalWrite(LeftMotorB, LOW);
97      digitalWrite(RightMotorF,  LOW);
98      digitalWrite(LeftMotorF, LOW);
99    }
100    //Motors follow the  position value
101    turret1.write(pos1);
102    turret2.write(pos2);
103  }
104}