speed.ino

#include <AFMotor.h>
#include<SoftwareSerial.h>

SoftwareSerial mySerial(1,0);

AF_DCMotor motor1(1, MOTOR12_64KHZ); // create motor #2, 64KHz pwm
AF_DCMotor motor2(2, MOTOR12_64KHZ);
AF_DCMotor motor3(3, MOTOR12_64KHZ);
AF_DCMotor motor4(4, MOTOR12_64KHZ);

void moveforward()
{
  motor1.setSpeed(255);     // set the speed to 200/255
  motor2.setSpeed(255);
  motor3.setSpeed(255);
  motor4.setSpeed(255);

  motor1.run(FORWARD);      
  motor2.run(FORWARD);      
  motor3.run(FORWARD);      
  motor4.run(FORWARD); 
}
void turnleft()
{
  motor1.setSpeed(255);     // set the speed to 200/255
  motor2.setSpeed(112);
  motor3.setSpeed(255);
  motor4.setSpeed(255); 

  motor1.run(FORWARD);      
  motor2.run(FORWARD);      
  motor3.run(FORWARD);      
  motor4.run(FORWARD); 
}
void turnright()
{
  motor1.setSpeed(112);      // set the speed to 200/255
  motor2.setSpeed(255);
  motor3.setSpeed(255);
  motor4.setSpeed(255); 

  motor1.run(FORWARD);      
  motor2.run(FORWARD);      
  motor3.run(FORWARD);      
  motor4.run(FORWARD);  
}

void movebackward()
{
  motor1.setSpeed(255);     // set the speed to 200/255
  motor2.setSpeed(255);
  motor3.setSpeed(255);
  motor4.setSpeed(255); 

  motor1.run(BACKWARD);       
  motor2.run(BACKWARD);      
  motor3.run(BACKWARD);     
  motor4.run(BACKWARD); 
}

void stopMovement()
{
  motor1.setSpeed(0);     // set the speed to 200/255
  motor2.setSpeed(0);
  motor3.setSpeed(0);
  motor4.setSpeed(0); 
//   motor1.run(RELEASE);      // stopped
//   motor2.run(RELEASE);      // stopped
//   motor3.run(RELEASE);      // stopped
//   motor4.run(RELEASE);      // stopped  
}

int command;


void setup() {
  Serial.begin(9600);
  
  mySerial.begin(9600);
}


void loop() {  
 if (mySerial.available() > 0) {
  
  command = mySerial.read();
  
  if(command == 'F'){
      moveforward();
      delay(1000);   
  }
  if(command == 'R'){
      turnright();
      delay(1000);
  }
  if(command == 'L'){
      turnleft();
      delay(1000);
  }
  if (command == 'S'){
    stopMovement();
    delay(1000);
  }
}
}