PikaBot_Bluetooth.ino

#include "CytronMotorDriver.h"
CytronMD motorLeft(PWM_PWM, 11, 10);
CytronMD motorRight(PWM_PWM, 9, 3);

#define BT_TX 6
#define BT_RX 7
#include "SoftwareSerial.h"
SoftwareSerial BTSerial(BT_TX, BT_RX); // Maker UNO RX, TX

#define BUTTON  2

#define NOTE_G4  392
#define NOTE_C5  523
#define NOTE_G5  784
#define NOTE_C6  1047

int btConnect[] = {NOTE_G5, NOTE_C6};
int btConnectNoteDurations[] = {12, 8};

#define playBtConnectMelody() playMelody(btConnect, btConnectNoteDurations, 2)

boolean BTConnect = false;
char inChar;

void robotStop() {
  motorLeft.setSpeed(0);
  motorRight.setSpeed(0);
}

void robotMove(int speedLeft, int speedRight) {
  motorLeft.setSpeed(speedLeft);
  motorRight.setSpeed(speedRight);
}

void setup()
{
  pinMode(BUTTON, INPUT_PULLUP);
  Serial.begin(9600);
  BTSerial.begin(9600);

  delay(1000);
}
void loop()
{
  inChar = 'S';

  if (BTSerial.available()) {
    inChar = BTSerial.read();
    Serial.println(inChar);
  }

  if (inChar == 'F') {
    robotMove(200, 200);   //forward
    delay(1000);
  }
  else if (inChar == 'B') {
    robotMove(-200, -200); //reverse
    delay(1000);
  }
  else if (inChar == 'L') {
    robotMove(-200, 200);  //left
    delay(1000);
  }
  else if (inChar == 'R') {
    robotMove(200, -200);  //right
    delay(1000);
  }
  else if (inChar == 'S') {
    robotStop();
  }
}