#include<SoftwareSerial.h>
SoftwareSerial mySerial(10, 11);
char data = 0;

#define IN1 2
#define IN2 4
#define IN3 6
#define IN4 7
#define EN1 5
#define EN2 3


// constants won't change. Used here to set a pin number:
const int ledPin =  LED_BUILTIN;// the number of the LED pin

// Variables will change:
int ledState = LOW;             // ledState used to set the LED

// Generally, you should use "unsigned long" for variables that hold time
// The value will quickly become too large for an int to store
unsigned long previousMillis = 0;        // will store last time LED was updated

// constants won't change:
const long interval = 1000;           // interval at which to blink (milliseconds)


void setup() {
  // put your setup code here, to run once:
  Serial.begin(9600);
  mySerial.begin(9600);

  pinMode(IN1, OUTPUT);
  pinMode(IN2, OUTPUT);
  pinMode(IN3, OUTPUT);
  pinMode(IN4, OUTPUT);
  pinMode(EN1, OUTPUT);
  pinMode(EN2, OUTPUT);

  // set the digital pin as output:
  pinMode(ledPin, OUTPUT);


}

void loop()
{
  unsigned long currentMillis = millis();

  if (currentMillis - previousMillis >= interval) {
    // save the last time you blinked the LED
    previousMillis = currentMillis;

    // if the LED is off turn it on and vice-versa:
    if (ledState == LOW) {
      ledState = HIGH;
    } else {
      ledState = LOW;
    }

    // set the LED with the ledState of the variable:
    digitalWrite(ledPin, ledState);
  }
  if (mySerial.available() )
  {
    data = mySerial.read();
    Serial.println(data);
    if (data == 'F')
    {
      Forward();
      
    }
    else if (data == 'B')
    {
      Back();
    }
    else if (data == 'L')
    {
      Left();
    }
    else if (data == 'R')
    {
      Right();
    }
    else if (data == 'G')
    {
      ForwardLeft();
    }
    else if (data == 'I')
    {
      ForwardRight();
    }
    else if (data == 'H')
    {
      BackLeft();
    }
    else if (data == 'J')
    {
      BackRight();
    }
    else {
      Stop();
    }

  }

}

void Forward() {
  digitalWrite(IN1, HIGH);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, HIGH);
  digitalWrite(IN4, LOW);
  digitalWrite(EN1, HIGH);
  digitalWrite(EN2, HIGH);


}

void Back() {
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, HIGH);
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, HIGH);
  digitalWrite(EN1, HIGH);
  digitalWrite(EN2, HIGH);
}

void Left() {
  digitalWrite(IN1, HIGH);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, HIGH);
  digitalWrite(EN1, HIGH);
  digitalWrite(EN2, HIGH);
}

void Right() {
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, HIGH);
  digitalWrite(IN3, HIGH);
  digitalWrite(IN4, LOW);
  digitalWrite(EN1, HIGH);
  digitalWrite(EN2, HIGH);

}
void Stop() {
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, LOW);
  digitalWrite(EN1, LOW);
  digitalWrite(EN2, LOW);
}

void ForwardLeft() {
  analogWrite(EN1, 255); //speed 0 - 255
  analogWrite(EN2, 50); //speed 0 - 255
  digitalWrite(IN1, HIGH);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, HIGH);
  digitalWrite(IN4, LOW);
}
void ForwardRight() {
  analogWrite(EN1, 50); //speed 0 - 255
  analogWrite(EN2, 255); //speed 0 - 255
  digitalWrite(IN1, HIGH);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, HIGH);
  digitalWrite(IN4, LOW);
}
void BackLeft() {
  analogWrite(EN1, 50); //speed 0 - 255
  analogWrite(EN2, 255); //speed 0 - 255
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, HIGH);
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, HIGH);
}
void BackRight() {
  analogWrite(EN1, 255); //speed 0 - 255
  analogWrite(EN2, 50); //speed 0 - 255
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, HIGH);
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, HIGH);
}