How To Create Navigation Control Robot

#define LS 40    //Left motor

#define RS 39    //Right motor

#define LD 28    //Left motor direction pin

#define RD 29    //Right motor direction pin

 

int speedr = 0, speedl = 0; //sets the speed of motor using PWM

int ldir = 0, rdir = 0;  // 0 forward // 1 backward

void setup() {

  // put your setup code here, to run once:

  Serial.begin(9600);

  Serial1.begin(9600);

  pinMode(LD, OUTPUT);

  pinMode(RD, OUTPUT);

}

 

void loop() {

   char c = 0;

  // put your main code here, to run repeatedly:

  if(Serial1.available()){

    c = Serial1.read();

    Serial.println(c);

  }

  switch(c)

  {

    case 'F' : ldir = rdir = 0;  //Forward Movement

               speedr = 50;

               speedl = 50;

               break;

              

    case 'B' : ldir = rdir = 1;  //Backward Movement

               speedr = 50;

               speedl = 50;

               break;

               

    case 'R' : ldir = 0;  //Move towards left

               speedl = 50;

               speedr = 0;

               break;

              

    case 'L' : rdir = 0;  //Move towards right

               speedl = 0;

               speedr = 50;

               break;

              

     default : speedr = speedl = 0;  //do nothing when no char

               break;

  }

digitalWrite(LD, ldir);

digitalWrite(RD, rdir);

analogWrite(LS, speedl);

analogWrite(RS, speedr);

delay(1000);

}