Arduino Powered 3D RoboSoccer Car with pro 360 Moves

1char t;                  
2bool preciseTurning = false;  
3
4// Motor pins
5int in1 = 5;   // Left motor forward
6int in2 = 6;   // Left motor reverse
7int in3 = 9;   // Right motor forward
8int in4 = 10;  // Right motor reverse
9
10void setup() {
11  pinMode(in1, OUTPUT);
12  pinMode(in2, OUTPUT);
13  pinMode(in3, OUTPUT);
14  pinMode(in4, OUTPUT);
15
16  Serial.begin(9600); // HC-05 on pins 0 and 1
17}
18
19void loop() {
20  if (Serial.available()) {
21    t = Serial.read();
22    Serial.println(t);  // Optional debug
23
24    // Mode toggle
25    if (t == 'X') {
26      preciseTurning = true;
27    } 
28    else if (t == 'Y') {
29      preciseTurning = false;
30    }
31
32    // ---- Main Movement ----
33    if (t == 'L') {  // Forward
34      digitalWrite(in1, LOW);        
35      digitalWrite(in2, HIGH);       
36      digitalWrite(in3, HIGH);       
37      digitalWrite(in4, LOW);        
38    }
39
40    else if (t == 'R') {  // Backward
41      digitalWrite(in1, HIGH);       
42      digitalWrite(in2, LOW);        
43      digitalWrite(in3, LOW);        
44      digitalWrite(in4, HIGH);       
45    }
46
47    else if (t == 'S') {  // Stop
48      digitalWrite(in1, LOW);
49      digitalWrite(in2, LOW);
50      digitalWrite(in3, LOW);
51      digitalWrite(in4, LOW);
52    }
53
54    else if (t == 'B') {  // Turn Left
55      if (preciseTurning) {
56        // In-place rotate left
57        digitalWrite(in1, LOW);     
58        digitalWrite(in2, HIGH);    
59        digitalWrite(in3, LOW);     
60        digitalWrite(in4, HIGH);    
61      } else {
62        // Only left motor ON
63        digitalWrite(in1, LOW);
64        digitalWrite(in2, HIGH);
65        digitalWrite(in3, LOW);
66        digitalWrite(in4, LOW);
67      }
68    }
69
70    else if (t == 'F') {  // Turn Right
71      if (preciseTurning) {
72        // In-place rotate right
73        digitalWrite(in1, HIGH);    
74        digitalWrite(in2, LOW);
75        digitalWrite(in3, HIGH);    
76        digitalWrite(in4, LOW);
77      } else {
78        // Only right motor ON
79        digitalWrite(in1, LOW);
80        digitalWrite(in2, LOW);
81        digitalWrite(in3, HIGH);
82        digitalWrite(in4, LOW);
83      }
84    }
85  }
86}