BCR (Bluetooth Controlled Robot)

#include <PololuMaestro.h>
#include <SoftwareSerial.h>

SoftwareSerial maestroSerial(10, 11); //range of bottom sensor 2000 to 10,000, range of mid servo 1500-6500,end servo range is 3000-10,000
MiniMaestro maestro(maestroSerial);

#define INPUT1 4
#define INPUT2 9
#define INPUT3 8
#define INPUT4 7
#define ENABLE1 6
#define ENABLE2 5


int input = 0;
int baseAngle = 6000;
int midAngle = 1500;
int endAngle = 4000;


void setup() {
  Serial.begin(9600);
  maestroSerial.begin(9600);
  pinMode(INPUT1, OUTPUT);
  pinMode(INPUT2, OUTPUT);
  pinMode(INPUT3, OUTPUT);
  pinMode(INPUT4, OUTPUT);
  analogWrite(ENABLE1, 0);
  analogWrite(ENABLE2, 0);
  digitalWrite(INPUT1, LOW);
  digitalWrite(INPUT2, LOW);
  digitalWrite(INPUT3, LOW);
  digitalWrite(INPUT4, LOW);

  for(int y = 0; y <= 2; y++){
    maestro.setSpeed(y,25);
    maestro.setAcceleration(y,127);
  }

  maestro.setTarget(0,midAngle);
  maestro.setTarget(1,baseAngle);
  maestro.setTarget(2,endAngle);
}

void loop() {
  if (Serial.available()> 0) {
    input = Serial.read();
    
      switch(input){
      case 97:
      analogWrite(ENABLE1, 255);
      analogWrite(ENABLE2, 255);
      digitalWrite(INPUT1, LOW);
      digitalWrite(INPUT2, HIGH);
      digitalWrite(INPUT3, HIGH);
      digitalWrite(INPUT4, LOW);
      input = 0;
      break;
      case 98:
      analogWrite(ENABLE1, 255);
      analogWrite(ENABLE2, 255);
      digitalWrite(INPUT1, HIGH);
      digitalWrite(INPUT2, LOW);
      digitalWrite(INPUT3, LOW);
      digitalWrite(INPUT4, HIGH);
      input = 0;
      break;
      case 99:
      analogWrite(ENABLE1, 255);
      analogWrite(ENABLE2, 255);
      digitalWrite(INPUT1, HIGH);
      digitalWrite(INPUT2, LOW);
      digitalWrite(INPUT3, HIGH);
      digitalWrite(INPUT4, LOW);
      input = 0;
      break;
      case 100:
      analogWrite(ENABLE1, 255);
      analogWrite(ENABLE2, 255);
      digitalWrite(INPUT1, LOW);
      digitalWrite(INPUT2, HIGH);
      digitalWrite(INPUT3, LOW);
      digitalWrite(INPUT4, HIGH );
      input = 0;
      break;
      case 101:
      analogWrite(ENABLE1, 0);
      analogWrite(ENABLE2, 0);
      digitalWrite(INPUT1, LOW);
      digitalWrite(INPUT2, LOW);
      digitalWrite(INPUT3, LOW);
      digitalWrite(INPUT4, LOW);
      input = 0;
      break;
      case 102:
      baseAngle = baseAngle + 150;
      maestro.setTarget(1,baseAngle);
      break;
      case 103:
      baseAngle = baseAngle - 150;
      maestro.setTarget(1,baseAngle);
      break;
      case 104:
      maestro.setTarget(0,midAngle);
      maestro.setTarget(2,endAngle);
      break;
      case 105:
      maestro.setTarget(0,6500);
      maestro.setTarget(2,6000);
      break;
    }
    
    }
    
    
    
  


}