// zur Nutzung mit Android Bluetooth CarBot

int LeftMotorForward = 6; 
int LeftMotorReverse = 7; 
int RightMotorForward = 8;
int RightMotorReverse = 9;
int rechtspwm =11;
int linkspwm = 10;
int dataFromBt; 

#include <SoftwareSerial.h>
#define rxPin 2  //RX vom Arduino - TX vom Bluetooth 
#define txPin 3  //TX vom Arduino - RX vom Bluetooth
SoftwareSerial bluetooth(rxPin, txPin);

void setup()
{
  bluetooth.begin(9600); 
  bluetooth.println("bluetooth available");
  pinMode(LeftMotorForward, OUTPUT); 
  pinMode(LeftMotorReverse, OUTPUT);     
  pinMode(RightMotorForward, OUTPUT); 
  pinMode(RightMotorReverse, OUTPUT); 
  pinMode(rechtspwm, OUTPUT); 
  pinMode(linkspwm, OUTPUT);     
}


void loop()
{
 if(bluetooth.available()) 
{
 dataFromBt = bluetooth.read();   // Befehl per Einzelbuchstabe oder Zahl, reagiert schnell, im Gegensatz zu bluetooth.readString()
 
  if(dataFromBt == '2'){
  bluetooth.println("links");
  stoppen();
    links();
}
 if(dataFromBt == '4'){
  bluetooth.println("rechts");
  stoppen();
  rechts();
}
 if(dataFromBt == '1'){
  bluetooth.println("vorwaerts");
  stoppen();
  vor();
}
 if(dataFromBt == '5'){
  bluetooth.println("zurueck");
  stoppen();
  zurueck();
}
 if(dataFromBt == '3'){
  bluetooth.println("stoppen");
  stoppen();
}

 if(dataFromBt == '6'){
  bluetooth.println("linksvor");
  stoppen();
  linksvor();
}
 if(dataFromBt == '7'){
  bluetooth.println("rechtsvor");
  stoppen();
  rechtsvor();
}
 if(dataFromBt == '8'){
  bluetooth.println("linksrueck");
  stoppen();
  linksrueck();
}
 if(dataFromBt == '9'){
  bluetooth.println("rechtsrueck");
  stoppen();
  rechtsrueck();
}
}
}

////////// Subroutinen //////////////////

 void stoppen(){
   digitalWrite(RightMotorForward, LOW); 
   digitalWrite(LeftMotorForward,  LOW);  
   digitalWrite(RightMotorReverse, LOW); 
   digitalWrite(LeftMotorReverse,  LOW);  
}

 void links(){
   digitalWrite(LeftMotorForward, HIGH); 
   digitalWrite(RightMotorReverse, LOW);    
   analogWrite(linkspwm, 160);
   digitalWrite(RightMotorReverse, HIGH); 
   digitalWrite(RightMotorForward, LOW);    
   analogWrite(rechtspwm, 160);

}
    
void rechts(){
   digitalWrite(LeftMotorForward, LOW); 
   digitalWrite(RightMotorReverse, HIGH);    
   analogWrite(linkspwm, 160);
   digitalWrite(RightMotorReverse, LOW); 
   digitalWrite(RightMotorForward, HIGH);    
   analogWrite(rechtspwm, 160);
}
    
void vor(){
   analogWrite(linkspwm, 255);
   analogWrite(rechtspwm, 255); 
   digitalWrite(RightMotorForward, HIGH); 
   digitalWrite(LeftMotorForward,  HIGH);  
   digitalWrite(RightMotorReverse, LOW); 
   digitalWrite(LeftMotorReverse,  LOW);  
}

void zurueck(){
   analogWrite(linkspwm, 255);
   analogWrite(rechtspwm, 255);
   digitalWrite(RightMotorForward, LOW); 
   digitalWrite(LeftMotorForward,  LOW);  
   digitalWrite(RightMotorReverse, HIGH); 
   digitalWrite(LeftMotorReverse,  HIGH);  
}

void linksvor(){
   analogWrite(linkspwm, 150);
   analogWrite(rechtspwm, 255);
   digitalWrite(RightMotorForward, HIGH); 
   digitalWrite(RightMotorReverse, LOW);    
   digitalWrite(LeftMotorForward, HIGH);  
   digitalWrite(LeftMotorReverse,  LOW);   
}

void rechtsvor(){
   analogWrite(linkspwm, 255);
   analogWrite(rechtspwm, 150);
   digitalWrite(RightMotorForward, HIGH); 
   digitalWrite(RightMotorReverse, LOW);     
   digitalWrite(LeftMotorForward, HIGH); 
   digitalWrite(LeftMotorReverse,  LOW);      
}

void linksrueck(){
   analogWrite(linkspwm, 150);
   analogWrite(rechtspwm, 255);
   digitalWrite(RightMotorReverse, HIGH);
   digitalWrite(RightMotorForward, LOW);     
   digitalWrite(LeftMotorReverse, HIGH);
   digitalWrite(LeftMotorForward, LOW);   
     
}

void rechtsrueck(){
   analogWrite(linkspwm, 255);
   analogWrite(rechtspwm, 150);
   digitalWrite(RightMotorReverse, HIGH); 
   digitalWrite(RightMotorForward, LOW);      
   digitalWrite(LeftMotorReverse, HIGH);  
   digitalWrite(LeftMotorForward, LOW);    
}