Voice-controlled Lego Car

1/* Voice Controlled Lego Car
2 * Created by Hanis Rozali
3 */
4  
5String voice;
6
7//motor A
8int ENA = 10;
9int IN1 = 9;
10int IN2 =  8;
11// motor B
12int ENB = 5;
13int IN3 = 7;
14int IN4 = 6;
15
16void setup()  {
17  // put your setup code here, to run once:
18  Serial.begin(9600);
19    pinMode(ENA,  OUTPUT);
20    pinMode(ENB, OUTPUT);
21    pinMode(IN1, OUTPUT);
22    pinMode(IN2,  OUTPUT);
23    pinMode(IN3, OUTPUT);
24    pinMode(IN4, OUTPUT);
25}
26
27//  put your main code here, to run repeatedly:
28void loop() {                    
29  while (Serial.available()){   //Check if there is an available byte to read
30  delay(10);                        //Delay added to make thing stable
31  char  words = Serial.read();       //Conduct a serial read
32  if (words == '#') {break;}        //Exit the loop when the # is detected after the word
33  voice += words;                   //Shorthand for voice = voice + words
34  
35  } 
36
37  if  (voice.length() > 0){
38    Serial.print(voice);
39  
40  if (voice == "*go"  || voice == "*now") {
41    forward();
42  }else if(voice == "*back" || voice  == "*move backward") {
43    backward();
44  }else if (voice == "*turn right")  {
45    right();
46  }else if (voice == "*turn left") {
47    left();
48  }else  if (voice == "*move faster") {
49    faster();
50  }else if (voice == "*start")  {
51    start();
52  }else if (voice == "*one" || voice == "*1") {
53    one();
54  }else if (voice == "*three" || voice == "*3") {
55    three();
56  }else  if (voice == "*five" || voice == "*5") {
57    five();
58  }else if (voice  == "*zero" || voice == "*stop") {
59    Stop();
60  }
61
62  voice="";  //Reset the variable after initiating
63}
64}
65void forward(){
66        digitalWrite(IN1,  HIGH);
67        digitalWrite(IN2, LOW);
68        analogWrite(ENA, 180);
69        digitalWrite(IN3, LOW);
70        digitalWrite(IN4, HIGH);
71        analogWrite(ENB,  180);     
72        delay(5000);
73        digitalWrite(IN1, LOW);
74        digitalWrite(IN2,  LOW);  
75        digitalWrite(IN3, LOW);
76        digitalWrite(IN4, LOW);
77        
78}
79    
80void backward() {
81        digitalWrite(IN1, LOW);
82        digitalWrite(IN2, HIGH);
83        digitalWrite(IN3, HIGH);
84        digitalWrite(IN4,  LOW);
85        delay(5000);
86        digitalWrite(IN1, LOW);
87        digitalWrite(IN2,  LOW);  
88        digitalWrite(IN3, LOW);
89        digitalWrite(IN4, LOW);
90}
91
92void  right() {
93        digitalWrite(IN1, LOW);
94        digitalWrite(IN2, HIGH);
95        digitalWrite(IN3, LOW);
96        digitalWrite(IN4, HIGH);
97        delay(500);
98        forward();
99}
100
101void left() {
102        digitalWrite(IN1, HIGH);
103        digitalWrite(IN2, LOW);
104        digitalWrite(IN3, HIGH);
105        digitalWrite(IN4,  LOW);
106        delay(500);
107        forward();  
108}
109
110void start(){
111        digitalWrite(IN1, HIGH);
112        digitalWrite(IN2, LOW);
113        analogWrite(ENA,  50);
114        digitalWrite(IN3, LOW);
115        digitalWrite(IN4, HIGH);
116        analogWrite(ENB, 50);
117}
118
119void one() {
120  analogWrite(ENA, 100);
121  analogWrite(ENB, 100);
122}
123
124void three() {
125  analogWrite(ENA, 180);
126  analogWrite(ENB, 180);
127}
128void five() {
129  analogWrite(ENA, 225);
130  analogWrite(ENB,  225);
131}
132
133void faster() {
134  analogWrite(ENA, 210);
135  analogWrite(ENB,  210);
136}
137
138void Stop() {
139        digitalWrite(IN1, LOW);
140        digitalWrite(IN2,  LOW);  
141        digitalWrite(IN3, LOW);
142        digitalWrite(IN4, LOW);
143}