Voice-Controlled Pick-and-Place Robot

#include <SoftwareSerial.h>
SoftwareSerial BT(10, 11); //TX, RX respetively
String readvoice;
char a,b;
int i;
void setup() 
{
 BT.begin(9600);
 Serial.begin(9600);
  pinMode(A0, OUTPUT);
  pinMode(A1, OUTPUT);
  pinMode(A2, OUTPUT);
  pinMode(A3, OUTPUT);

  pinMode(3, OUTPUT);
  pinMode(4, OUTPUT);
  pinMode(5, OUTPUT);
  pinMode(6, OUTPUT);

  pinMode(7, OUTPUT);
  pinMode(8, OUTPUT);
  pinMode(9, OUTPUT);
  pinMode(12, OUTPUT);

}void loop() 

 {
  while (BT.available()){  //Check if there is an available byte to read
  delay(10); //Delay added to make thing stable 
  char c = BT.read(); //Conduct a serial read
  readvoice += c; //build the string- "forward", "reverse", "left" and "right"
 }  
  if (readvoice.length() > 0) 
 {
    Serial.println(readvoice);

  if (readvoice == "rotate anticlockwise")
 {
  for(i=0;i<=20;i++)
  {
    digitalWrite (A0,HIGH);
    digitalWrite (A1,LOW);
    digitalWrite (A2,LOW);
    digitalWrite (A3,LOW);
    delay (100);
  }
  goto a;
 }
  else if ( readvoice == "rotate clockwise")
 {
  for(i=0;i<=20;i++)
  {digitalWrite (A0, LOW);
  
 digitalWrite (A1, LOW);
   digitalWrite (A2, HIGH);
   digitalWrite (A3, LOW);
   delay (100);
 }
 goto a;
 }
  else if (readvoice == "light on")
 {
   digitalWrite (A0, LOW);
   digitalWrite (A1, HIGH);
   digitalWrite (A2, LOW);
   digitalWrite (A3, LOW);
   delay (100);
 }
 else if (readvoice == "light off")
 {
   digitalWrite (A0, LOW);
   digitalWrite (A1, LOW);
   digitalWrite (A2, LOW);
   digitalWrite (A3, LOW);
   delay (100);
 }
 else if (readvoice == "open")
 {
  for(i=0;i<=5;i++){
    
digitalWrite (3,HIGH);
    digitalWrite (4,LOW);
    digitalWrite (5,LOW);
    digitalWrite (6,LOW);
    delay (100);
 }
 goto a;
 }
 else if ( readvoice == "close")
 {
   for(i=0;i<=5;i++)
   {
   digitalWrite (3, LOW);
   digitalWrite (4, LOW);
   digitalWrite (5, HIGH);
   digitalWrite (6, LOW);
   delay (100);
 }
 goto a;
 }
 else if (readvoice == "joint up")//wrist up
 {
  for(i=0;i<=15;i++) {
    digitalWrite (3,LOW);
    digitalWrite (4,HIGH);
    digitalWrite (5,LOW);
    
digitalWrite (6,LOW);
    delay(100);
  }
    
    goto a;
 }
    else if ( readvoice == "joint down")//wrist down
 {
   for(i=0;i<=15;i++)
  {
   digitalWrite (3, LOW);
   digitalWrite (4, LOW);
   digitalWrite (5, LOW);
   digitalWrite (6, HIGH);
   delay (100);
 }
 goto a;
 }
  else if (readvoice == "shoulder up")
 {
    for(i=0;i<=20;i++) {
    digitalWrite (7,HIGH);
    digitalWrite (8,LOW);
    digitalWrite (9,LOW);
    digitalWrite (12,LOW);
    delay (100);
 
}
 goto a;
 }
  else if (readvoice == "shoulder down")
 {
   for(i=0;i<=20;i++)
   {
   digitalWrite (7, LOW);
   digitalWrite (8, LOW);
   digitalWrite (9, HIGH);
   digitalWrite (12, LOW);
   delay (100);  
 }
 goto a;
 }
 else if (readvoice == "elbow up")
 {
   for(i=0;i<=20;i++)
   {
   digitalWrite (7, LOW);
   digitalWrite (8, HIGH);
   digitalWrite (9, LOW);
   digitalWrite (12, LOW);
   delay (100);
 }
 goto a;}

 else if (readvoice == "elbow down") {
   for(i=0;i<=20;i++)   {
   digitalWrite (7, LOW);
   digitalWrite (8, LOW);
   digitalWrite (9, LOW);
   digitalWrite (12, HIGH);
   delay (100); }
 goto a;}
 else if (readvoice == "terminate"){
 a:
   digitalWrite (A0, LOW);
   digitalWrite (A1, LOW);
   digitalWrite (A2, LOW);
   digitalWrite (A3, LOW);
   digitalWrite (3, LOW);
   digitalWrite (4, LOW);
   digitalWrite (5, LOW);
   digitalWrite (6, LOW);
   digitalWrite (7, LOW);
   digitalWrite (8, LOW);
   digitalWrite (9, LOW);
   digitalWrite (12, LOW);
   delay (100);
 }
 readvoice="";}} //Reset the variable