Arduino Bluetooth Car

1#include <AFMotor.h>
2
3//initial motors pin
4AF_DCMotor motor1(1,  MOTOR12_1KHZ); 
5AF_DCMotor motor2(2, MOTOR12_1KHZ); 
6AF_DCMotor motor3(3,  MOTOR34_1KHZ);
7AF_DCMotor motor4(4, MOTOR34_1KHZ);
8
9char command; 
10
11void  setup() 
12{       
13  Serial.begin(9600);  //Set the baud rate to your Bluetooth  module.
14}
15
16void loop(){
17  if(Serial.available() > 0){ 
18    command  = Serial.read(); 
19    Stop(); //initialize with motors stoped
20    //Change  pin mode only if new command is different from previous.   
21    //Serial.println(command);
22    switch(command){
23    case 'F':  
24      forward();
25      break;
26    case 'B':  
27       back();
28      break;
29    case 'L':  
30      left();
31      break;
32    case 'R':
33      right();
34      break;
35    }
36  }  
37}
38
39void forward()
40{
41  motor1.setSpeed(255); //Define maximum velocity
42  motor1.run(FORWARD); //rotate the motor clockwise
43  motor2.setSpeed(255); //Define  maximum velocity
44  motor2.run(FORWARD); //rotate the motor clockwise
45  motor3.setSpeed(255);//Define  maximum velocity
46  motor3.run(FORWARD); //rotate the motor clockwise
47  motor4.setSpeed(255);//Define  maximum velocity
48  motor4.run(FORWARD); //rotate the motor clockwise
49}
50
51void  back()
52{
53  motor1.setSpeed(255); //Define maximum velocity
54  motor1.run(BACKWARD);  //rotate the motor anti-clockwise
55  motor2.setSpeed(255); //Define maximum velocity
56  motor2.run(BACKWARD); //rotate the motor anti-clockwise
57  motor3.setSpeed(255);  //Define maximum velocity
58  motor3.run(BACKWARD); //rotate the motor anti-clockwise
59  motor4.setSpeed(255); //Define maximum velocity
60  motor4.run(BACKWARD); //rotate  the motor anti-clockwise
61}
62
63void left()
64{
65  motor1.setSpeed(255);  //Define maximum velocity
66  motor1.run(BACKWARD); //rotate the motor anti-clockwise
67  motor2.setSpeed(255); //Define maximum velocity
68  motor2.run(BACKWARD); //rotate  the motor anti-clockwise
69  motor3.setSpeed(255); //Define maximum velocity
70  motor3.run(FORWARD);  //rotate the motor clockwise
71  motor4.setSpeed(255);  //Define maximum velocity
72  motor4.run(FORWARD);  //rotate the motor clockwise
73}
74
75void  right()
76{
77  motor1.setSpeed(255); //Define maximum velocity
78  motor1.run(FORWARD);  //rotate the motor clockwise
79  motor2.setSpeed(255); //Define maximum velocity
80  motor2.run(FORWARD); //rotate the motor clockwise
81  motor3.setSpeed(255); //Define  maximum velocity
82  motor3.run(BACKWARD); //rotate the motor anti-clockwise
83  motor4.setSpeed(255); //Define maximum velocity
84  motor4.run(BACKWARD); //rotate  the motor anti-clockwise
85} 
86
87void Stop()
88{
89  motor1.setSpeed(0);  //Define minimum velocity
90  motor1.run(RELEASE); //stop the motor when release  the button
91  motor2.setSpeed(0); //Define minimum velocity
92  motor2.run(RELEASE);  //rotate the motor clockwise
93  motor3.setSpeed(0); //Define minimum velocity
94  motor3.run(RELEASE); //stop the motor when release the button
95  motor4.setSpeed(0);  //Define minimum velocity
96  motor4.run(RELEASE); //stop the motor when release  the button
97}
98