Arduino bluetooth car

1#include <AFMotor.h>
2
3#include <SoftwareSerial.h>
4
5SoftwareSerial  BT( 9 , 10 ); 
6
7//initial motors pin
8AF_DCMotor motor1(1); 
9AF_DCMotor  motor2(2); 
10AF_DCMotor motor3(3);
11AF_DCMotor motor4(4);
12
13char command;  
14
15void setup() 
16{       
17  Serial.begin(9600);  //Set the baud rate  to your Bluetooth module.
18  BT.begin(9600);
19}
20void loop(){
21
22  if(BT.available()  > 0){ 
23    command = BT.read();
24    
25    switch(command){
26      
27      case 'S':  
28      Stop();
29      break;
30      
31    case 'F':  
32      forward();
33      break;
34      
35    case 'B':  
36       back();
37      break;
38      
39    case 'L':  
40      left();
41      break;
42      
43    case 'R':
44      right();
45      break;
46    }
47  } 
48}
49
50void  forward()
51{
52  motor1.setSpeed(255); //Define maximum velocity
53  motor1.run(FORWARD);  //rotate the motor clockwise
54  motor2.setSpeed(255); //Define maximum velocity
55  motor2.run(FORWARD); //rotate the motor clockwise
56  motor3.setSpeed(255);//Define  maximum velocity
57  motor3.run(FORWARD); //rotate the motor clockwise
58  motor4.setSpeed(255);//Define  maximum velocity
59  motor4.run(FORWARD); //rotate the motor clockwise
60}
61
62void  back()
63{
64  motor1.setSpeed(255); //Define maximum velocity
65  motor1.run(BACKWARD);  //rotate the motor anti-clockwise
66  motor2.setSpeed(255); //Define maximum velocity
67  motor2.run(BACKWARD); //rotate the motor anti-clockwise
68  motor3.setSpeed(255);  //Define maximum velocity
69  motor3.run(BACKWARD); //rotate the motor anti-clockwise
70  motor4.setSpeed(255); //Define maximum velocity
71  motor4.run(BACKWARD); //rotate  the motor anti-clockwise
72}
73
74void left()
75{
76  motor1.setSpeed(255);  //Define maximum velocity
77  motor1.run(BACKWARD); //rotate the motor anti-clockwise
78  motor2.setSpeed(255); //Define maximum velocity
79  motor2.run(BACKWARD); //rotate  the motor anti-clockwise
80  motor3.setSpeed(255); //Define maximum velocity
81  motor3.run(FORWARD);  //rotate the motor clockwise
82  motor4.setSpeed(255);  //Define maximum velocity
83  motor4.run(FORWARD);  //rotate the motor clockwise
84}
85
86void  right()
87{
88  motor1.setSpeed(255); //Define maximum velocity
89  motor1.run(FORWARD);  //rotate the motor clockwise
90  motor2.setSpeed(255); //Define maximum velocity
91  motor2.run(FORWARD); //rotate the motor clockwise
92  motor3.setSpeed(255); //Define  maximum velocity
93  motor3.run(BACKWARD); //rotate the motor anti-clockwise
94  motor4.setSpeed(255); //Define maximum velocity
95  motor4.run(BACKWARD); //rotate  the motor anti-clockwise
96} 
97
98void Stop()
99{
100  motor1.setSpeed(0);  //Define minimum velocity
101  motor1.run(RELEASE); //stop the motor when release  the button
102  motor2.setSpeed(0); //Define minimum velocity
103  motor2.run(RELEASE);  //rotate the motor clockwise
104  motor3.setSpeed(0); //Define minimum velocity
105  motor3.run(RELEASE); //stop the motor when release the button
106  motor4.setSpeed(0);  //Define minimum velocity
107  motor4.run(RELEASE); //stop the motor when release  the button
108}
109