1#include<SoftwareSerial.h>
2SoftwareSerial bluetooth(10,11);
3char data;
4int a=150,b=150;
5void setup() {
6 Serial.begin(115200);
7 bluetooth.begin(9600);
8 pinMode(2,OUTPUT);
9 pinMode(3,OUTPUT);
10 pinMode(4,OUTPUT);
11 pinMode(5,OUTPUT);
12 pinMode(6,OUTPUT);
13 pinMode(7,OUTPUT);
14}
15void loop() {
16 if(bluetooth.available()){
17 data=bluetooth.read();
18 Serial.println(data);
19}
20 if(data=='F'){forward();}
21 if(data=='B'){backward();}
22 if(data=='L'){left();}
23 if(data=='R'){right();}
24 if(data=='S'){stop();}
25}
26void forward(){
27 digitalWrite(2,HIGH);
28 digitalWrite(3,LOW);
29 analogWrite(4,a);
30
31 digitalWrite(5,HIGH);
32 digitalWrite(6,LOW);
33 analogWrite(7,b);
34 }
35void backward(){
36 digitalWrite(2,LOW);
37 digitalWrite(3,HIGH);
38 analogWrite(4,a);
39
40 digitalWrite(5,LOW);
41 digitalWrite(6,HIGH);
42 analogWrite(7,b);
43 }
44void right(){
45 digitalWrite(2,HIGH);
46 digitalWrite(3,LOW);
47 analogWrite(4,a);
48
49 digitalWrite(5,LOW);
50 digitalWrite(6,HIGH);
51 analogWrite(7,b);
52 }
53void left(){
54 digitalWrite(2,LOW);
55 digitalWrite(3,HIGH);
56 analogWrite(4,a);
57
58 digitalWrite(5,HIGH);
59 digitalWrite(6,LOW);
60 analogWrite(7,b);
61 }
62void stop(){
63 digitalWrite(2,LOW);
64 digitalWrite(3,LOW);
65 analogWrite(4,0);
66
67 digitalWrite(5,LOW);
68 digitalWrite(6,LOW);
69 analogWrite(7,0);
70 }