Control your Arduino car with an Android Bluetooth app

hc06-bt-app-control.ino

/*
*  Code Next Arduino Robot club
*   HC-06 Bluetooth drive control with mobile app
*   Downoload an Android Bluetooth HC-06 app and
*   set commands to match f (forward), r (reverse)
*   l (left) , r (right)
*   TODO: modify this code to improve remote driveing performance
*/

#include <SoftwareSerial.h>

//motor 1
#define enA 9
#define in1 6
#define in2 7

////motor 2
#define in3 5
#define in4 4
#define enB 3 //pwm for motor 2

#define buzzer  12
#define led 13

SoftwareSerial BTserial(10, 11); // RX | TX

void setup() {

  Serial.begin(9600);
  BTserial.begin(9600);  
  pinMode(led, OUTPUT);
  pinMode(enA, OUTPUT);
  pinMode(enB, OUTPUT);
  pinMode(in1, OUTPUT);
  pinMode(in2, OUTPUT);
  pinMode(in3, OUTPUT);
  pinMode(in4, OUTPUT);
  
 wakeUp();
}

void loop() {

  analogWrite(enA, 255); //full power - no more potentiometer
  analogWrite(enB, 255);
 
    while (BTserial.available()>0)
    {  
        char c = BTserial.read();
       
        if (c == 'f'){

          tone(buzzer, 1000);  
          digitalWrite(led, HIGH);
          delay(80);         
          noTone(buzzer); 

          forward(); //move forward
         
        } else if (c == 'b'){

          tone(buzzer, 800);  
          digitalWrite(led, HIGH);
          delay(80);          
          noTone(buzzer); 

          reverse();

        } else if (c == 'l'){

          //turn left
          tone(buzzer, 800);  
          digitalWrite(led, HIGH);
          delay(80);        
          noTone(buzzer); 

          turnLeft();

        } else if (c == 'r'){

          tone(buzzer, 800);  
          digitalWrite(led, HIGH);
          delay(80);          
          noTone(buzzer); 

          turnRight();

        }
        
        
        else {

          Serial.println("Enter f, b, r, l");

        }
      delay(10);
        
    }
 
    // Keep reading from Arduino Serial Monitor and send to HC-06
    while (Serial.available()>0)
    {
       //This runs while the communication is coming from the Serial USB
        BTserial.write(Serial.read());
    }
 
}



void forward(){

    //motor 1
  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);
  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW);
}

void reverse(){

  digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);
  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);
  
}

void turnRight(){

  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);
  
}

void turnLeft(){

  digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);
  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW);
  
}

void wakeUp(){

 
  tone(buzzer, 1000); // Send 1KHz sound signal...
  digitalWrite(led, HIGH);
  delay(80);         //play for 20 milliseconds
  noTone(buzzer);     //turn off sound 
  digitalWrite(led, LOW);
  delay(120);         //wait for a bit more
  

  tone(buzzer, 720); 
  digitalWrite(led, HIGH);
  delay(120);         
  noTone(buzzer);     
  digitalWrite(led, LOW); 
  delay(100); 

  tone(buzzer, 1000);  
  digitalWrite(led, HIGH);
  delay(300);         
  noTone(buzzer);      
  digitalWrite(led, LOW);
  delay(20); 

  tone(buzzer, 2000);  
  digitalWrite(led, HIGH);
  delay(200);         
  noTone(buzzer);      
  delay(1000); 
  digitalWrite(led, LOW);

}


void playForwardChime(){

tone(buzzer, 1000); // Send 1KHz sound signal...
  delay(80);         //play for 20 milliseconds
  noTone(buzzer);     //turn off sound 
  delay(80);         //wait for a bit more
  

  tone(buzzer, 1200);  
  delay(120);         
  noTone(buzzer);      
  delay(100); 

  tone(buzzer, 1000);  
  delay(90);         
  noTone(buzzer);      
  delay(20); 

  tone(buzzer, 2400);  
  delay(120);         
  noTone(buzzer);      
  delay(0); 
  
}