RC Wood Truck, Car (DIY): Arduino + ESP32 + MIT App Inventor

//By Marco Bobinger - 2020
//
/*Pin assignment:
 * GPIO16: Mute PM8302 sound card on SD (Shutdown PIN)
 * GPIO25: DAC (digital-to-analog-converter) on A+ pin on PM8302
 * VCC of PM8302 on 3.3V
 * L298N Micro stepper card: right wheels on MOTOR A output of L298N
 * L298N Micro stepper card: LEFT wheels on MOTOR B output of L298N
 * Right Motor: see GPIO below
 * Left motor: see GPIO below
 */
//This example creates a bridge between Serial and Classical Bluetooth (SPP)
//and also demonstrate that SerialBT have the same functionalities of a normal Serial
/*
F: Forward : 70
B: Back : 66
S: Stop : 83
L: Left : 76
R: Right : 82
I: Forward right : 73
J: Back right : 74
H: back left : 72
G: forward left : 71
u: u-turn : 117
t: u-turn : 116
M: Sound1 77
N: Sound2 78
O: Sound3 79
K: Light off 75
Z: light on 90
 */
#include "BluetoothSerial.h"
#include "hupen.h"
#include "XT_DAC_Audio.h"
int mutepin = 16;
XT_Wav_Class hupenclass(hupen);                                  
XT_DAC_Audio_Class DacAudio(25,0);


#if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED)
#error Bluetooth is not enabled! Please run `make menuconfig` to and enable it
#endif

byte incoming;
int counter = 0;
int lightpin = 15;

//left motor
int rmotorpinA = 33; //change to 32
int rmotorpinB = 32;

//right motor
int lmotorpinA = 14; //change to 14
int lmotorpinB = 27;

BluetoothSerial SerialBT;

void stop() {
  digitalWrite(rmotorpinA, LOW);
  digitalWrite(rmotorpinB, LOW);
  digitalWrite(lmotorpinA, LOW);
  digitalWrite(lmotorpinB, LOW); 
}
void setup() {
  Serial.begin(115200);
  SerialBT.begin("Lasercut24 - 2912"); //Bluetooth device name
  Serial.println("The device started, now you can pair it with bluetooth!");
//pin settings for digitalwrite GPIO Pins
pinMode(rmotorpinA, OUTPUT);
pinMode(rmotorpinB, OUTPUT);
pinMode(lmotorpinA, OUTPUT);
pinMode(lmotorpinB, OUTPUT);
pinMode(mutepin, OUTPUT);
pinMode(lightpin, OUTPUT);
digitalWrite(mutepin, LOW);
}

void loop() {
  /*
  if (Serial.available()) {
    SerialBT.write(Serial.read());
  }
  if (SerialBT.available()) {
    Serial.write(SerialBT.read());
  }
  */
  if (SerialBT.available()) {
    incoming = SerialBT.read();
    Serial.println(incoming);
    counter = 0;
  }
      if (incoming == 70)
  {
  Serial.println("Driving forward");
  SerialBT.println("Forward");
  digitalWrite(rmotorpinA, LOW);
  digitalWrite(rmotorpinB, HIGH);
  digitalWrite(lmotorpinA, LOW);
  digitalWrite(lmotorpinB, HIGH);
  }

  if (incoming == 66)
  {
  Serial.println("Driving back");
  SerialBT.println("Back");
  digitalWrite(rmotorpinA, HIGH);
  digitalWrite(rmotorpinB, LOW);
  digitalWrite(lmotorpinA, HIGH);
  digitalWrite(lmotorpinB, LOW);
  }

  if (incoming == 83)
  {
  Serial.println("Stopping now");
  SerialBT.println("Stopping");
  digitalWrite(rmotorpinA, LOW);
  digitalWrite(rmotorpinB, LOW);
  digitalWrite(lmotorpinA, LOW);
  digitalWrite(lmotorpinB, LOW);
  }
  delay(20);

  if (incoming == 76)
  {
  Serial.println("Driving left");
  SerialBT.println("Left");
  digitalWrite(rmotorpinA, LOW);
  digitalWrite(rmotorpinB, HIGH);
  digitalWrite(lmotorpinA, LOW);
  digitalWrite(lmotorpinB, LOW);
  }
  
if (incoming == 82)
  {
  Serial.println("Driving right");
  SerialBT.println("Right");
  digitalWrite(rmotorpinA, LOW);
  digitalWrite(rmotorpinB, LOW);
  digitalWrite(lmotorpinA, LOW);
  digitalWrite(lmotorpinB, HIGH);
  }

  if (incoming == 73)
  {
  Serial.println("Forward right");
  SerialBT.println("F-Right");
  if (counter >= 1)
  {
  counter = 0;
  digitalWrite(rmotorpinA, LOW);
  digitalWrite(rmotorpinB, LOW);
  delay(100);
  }
  else if (counter < 1)
  {
  counter = counter + 1;
  digitalWrite(rmotorpinA, LOW);
  digitalWrite(rmotorpinB, HIGH);
  }
  digitalWrite(lmotorpinA, LOW);
  digitalWrite(lmotorpinB, HIGH);
  }

  if (incoming == 74)
  {
  Serial.println("Back right");
  SerialBT.println("B-Right");
  if (counter >= 1)
  {
  counter = 0;
  digitalWrite(rmotorpinA, LOW);
  digitalWrite(rmotorpinB, LOW);
  delay(100);
  }
  else if (counter < 1)
  {
  counter = counter + 1;
  digitalWrite(rmotorpinA, HIGH);
  digitalWrite(rmotorpinB, LOW);
  }
  digitalWrite(lmotorpinA, HIGH);
  digitalWrite(lmotorpinB, LOW);
  }

  if (incoming == 72)
  {
  Serial.println("Back left");
  SerialBT.println("B-Left");
  digitalWrite(rmotorpinA, HIGH);
  digitalWrite(rmotorpinB, LOW);
  if (counter >= 1)
  {
  counter = 0;
  digitalWrite(lmotorpinA, LOW);
  digitalWrite(lmotorpinB, LOW);
  delay(100);
  }
  else if (counter < 1)
  {
    counter = counter + 1;
  digitalWrite(lmotorpinA, HIGH);
  digitalWrite(lmotorpinB, LOW);
  }
  }

  if (incoming == 71)
  {
  Serial.println("Forward left");
  SerialBT.println("F-Left");
  digitalWrite(rmotorpinA, LOW);
  digitalWrite(rmotorpinB, HIGH);
  if (counter >= 1)
  {
  counter = 0;
  digitalWrite(lmotorpinA, LOW);
  digitalWrite(lmotorpinB, LOW);
  delay(100);
  }
  else if (counter < 1)
  {
  counter = counter + 1;
  digitalWrite(lmotorpinA, LOW);
  digitalWrite(lmotorpinB, HIGH); 
  }
  }
  
  if (incoming == 117) // u turn with letter u
  {
  SerialBT.println("U-turn");
  Serial.println("U-turn");
  digitalWrite(rmotorpinA, LOW);
  digitalWrite(rmotorpinB, HIGH);
  digitalWrite(lmotorpinA, HIGH);
  digitalWrite(lmotorpinB, LOW);
  }

  if (incoming == 116) // u turn with letter t
  {
  SerialBT.println("U-turn");
  Serial.println("U-turn");
  digitalWrite(rmotorpinA, HIGH);
  digitalWrite(rmotorpinB, LOW);
  digitalWrite(lmotorpinA, LOW);
  digitalWrite(lmotorpinB, HIGH); 
  }
  
  if (incoming == 77) // Play sound 1
  {
digitalWrite(mutepin, HIGH);
Serial.println("Now Playing Sound 1");
SerialBT.println("Sound 1");
DacAudio.FillBuffer();
if(hupenclass.Playing==false){
DacAudio.Play(&hupenclass);
incoming = 0;
digitalWrite(mutepin, LOW);  
  }
  }
  
  if (incoming == 89)
  {
  SerialBT.println("Muting");
  Serial.println("Muting");
  digitalWrite(mutepin, LOW);   
  }

  if (incoming == 90)
  {
  SerialBT.println("Light on");
  Serial.println("Light on");
  digitalWrite(lightpin, HIGH);   
  }
  if (incoming == 75)
  {
  SerialBT.println("Light off");
  Serial.println("Light off");
  digitalWrite(lightpin, LOW);   
  }
}