/*
Code Name: Arduino Bluetooth Car with Mecanum Wheel 
Code URI: https://circuitbest.com/category/arduino-projects/
Before uploading the code you have to install the "Adafruit Motor Shield" library
Open Arduino IDE >> Go to sketch >> Include Libray >> Manage Librays...  >> Search "Adafruit Motor Shield" >> Install the Library
AFMotor Library: https://learn.adafruit.com/adafruit-motor-shield/library-install
Author: Make DIY
Author URI: https://circuitbest.com/author/admin/
Description: This program is used to control a Mecanum Wheel robot using an app that communicates with Arduino through an HC-05 Bluetooth Module.
App URI: https://bit.ly/36cdPqU
Version: 1.0
License: Remixing or Changing this Thing is allowed. Commercial use is not allowed.
*/
  
#include <AFMotor.h>
  
//initial motors pin
AF_DCMotor motor1(1, MOTOR12_1KHZ);
AF_DCMotor motor2(2, MOTOR12_1KHZ);
AF_DCMotor motor3(3, MOTOR34_1KHZ);
AF_DCMotor motor4(4, MOTOR34_1KHZ);
  
int val;
int Speeed = 255; // Change this value between 0 to 255 for speed
  
void setup()
{
  Serial.begin(9600);  //Set the baud rate to your Bluetooth module.
}
void loop(){
  if(Serial.available() > 0){
    val = Serial.read();
      
    Stop(); //initialize with motors stoped
      
          if (val == 'F'){
          forward();
          }
  
          if (val == 'B'){
          back();
          }
  
          if (val == 'L'){
          left();
          }
  
          if (val == 'R'){
          right();
          }
          if (val == 'I'){
          topright();
          }
  
          if (val == 'J'){
          topleft();
          }
  
          if (val == 'K'){
          bottomright();
          }
  
          if (val == 'M'){
          bottomleft();
          }
          if (val == 'T'){
          Stop();
          }
  }
}
           
  
  /*
    Motor1= Top Left 
    Motor2= Bottom Left
    Motor3= Bottom Right
    Motor4= Top Right

    Motor1, Motor4 are forward 2 Motors
    Motor2, Motor3 are backward 2 Motors

    If any of your motor is not rotating in right direction 
    then please check the Wire connections. 
    
    If you connect the Motor points as same I showed 
    in the Schematics then this code is enough 
    to run your car.

  */          
  
  
  
void forward()
{
  motor1.setSpeed(Speeed); 
  motor1.run(FORWARD); 
  motor2.setSpeed(Speeed); 
  motor2.run(BACKWARD); 
  motor3.setSpeed(Speeed);
  motor3.run(FORWARD); 
  motor4.setSpeed(Speeed);
  motor4.run(BACKWARD); 
}
  
void back()
{
  motor1.setSpeed(Speeed); 
  motor1.run(BACKWARD); 
  motor2.setSpeed(Speeed); 
  motor2.run(FORWARD); 
  motor3.setSpeed(Speeed); 
  motor3.run(BACKWARD); 
  motor4.setSpeed(Speeed); 
  motor4.run(FORWARD);  
}
  
void left()
{

  motor1.setSpeed(Speeed); 
  motor1.run(BACKWARD); 
  motor2.setSpeed(Speeed); 
  motor2.run(BACKWARD); 
  motor3.setSpeed(Speeed); 
  motor3.run(BACKWARD); 
  motor4.setSpeed(Speeed); 
  motor4.run(BACKWARD); 

  
}
  
void right()
{

  motor1.setSpeed(Speeed); 
  motor1.run(FORWARD); 
  motor2.setSpeed(Speeed); 
  motor2.run(FORWARD); 
  motor3.setSpeed(Speeed);
  motor3.run(FORWARD); 
  motor4.setSpeed(Speeed);
  motor4.run(FORWARD); 
  
}
  
void topleft(){

  motor1.setSpeed(Speeed); 
  motor1.run(FORWARD); 
//  motor2.setSpeed(Speeed/3.1); 
//  motor2.run(FORWARD); 
  motor3.setSpeed(Speeed);
  motor3.run(FORWARD); 
//  motor4.setSpeed(Speeed);
//  motor4.run(FORWARD); 

}
  
void topright()
{

//  motor1.setSpeed(Speeed); 
//  motor1.run(FORWARD); 
  motor2.setSpeed(Speeed); 
  motor2.run(BACKWARD); 
//  motor3.setSpeed(Speeed/3.1);
//  motor3.run(FORWARD); 
  motor4.setSpeed(Speeed);
  motor4.run(BACKWARD); 
  
}
  
void bottomleft()
{

//  motor1.setSpeed(Speeed); 
//  motor1.run(FORWARD); 
  motor2.setSpeed(Speeed); 
  motor2.run(FORWARD); 
//  motor3.setSpeed(Speeed/3.1);
//  motor3.run(FORWARD); 
  motor4.setSpeed(Speeed);
  motor4.run(FORWARD); 

  
}
  
void bottomright()
{




  motor1.setSpeed(Speeed); 
  motor1.run(BACKWARD); 
//  motor2.setSpeed(Speeed/3.1); 
//  motor2.run(FORWARD); 
  motor3.setSpeed(Speeed);
  motor3.run(BACKWARD); 
//  motor4.setSpeed(Speeed);
//  motor4.run(FORWARD); 
  

}
  
  
void Stop()
{
  motor1.setSpeed(0); 
  motor1.run(RELEASE); //stop the motor when release the button
  motor2.setSpeed(0); 
  motor2.run(RELEASE); 
  motor3.setSpeed(0); 
  motor3.run(RELEASE); 
  motor4.setSpeed(0); 
  motor4.run(RELEASE); 
}