bluetooth.h

#ifndef _bluetooth_H
#define _bluetooth_H
#include "common.h"
#include "steppermotor_init.h"
#include "Servo.h"
extern int myStepper1ShouldRun;
char value;
float vel = 100;
float v = 0;
float w = 0;
const int pump = 51;
float vel_max = 255;
int dutycycle = 0;
int motor_dir;
enum
{
  MOTOR_FORWARD = 0,
  MOTOR_BACKWARD,
  MOTOR_LEFT,
  MOTOR_RIGHT
};

void read_bluetooth()
{
  if (Serial.available())
  {
    value = Serial.read();
#if PRINT_DEBUG_INFO
    Serial.print(value);
#endif

    if (value == 'Z')
    {
      digitalWrite(pump, HIGH);
    }

    if (value == 'X')
    {
      digitalWrite(pump, LOW);
    }

    if (value == 'W')
    {
      v = vel;
      w = 0;
      motor_dir = MOTOR_FORWARD;
    }

    else if (value == 'S')
    {
      v = -vel;
      w = 0;
      motor_dir = MOTOR_BACKWARD;
    }

    else if (value == 'D')
    {
      v = 0;
      w = vel*2;
      motor_dir = MOTOR_RIGHT;
    }

    else if (value == 'A')
    {
      v = 0;
      w = -vel*2;
      motor_dir = MOTOR_LEFT;
    }

    else if (value == 'T') //Stop_robot
    {
      v = 0;
      w = 0;
    }

    else if (value == '+')
    {
      Serial.print(value);
      delay(200);
      while (Serial.available())
      {
        value = Serial.read();
#if PRINT_DEBUG_INFO
        Serial.print(value);
#endif
      }
      //      turn_off_robot();
    }

    else if (value == 'I') //ARM UP
    {
      move_servo();
    }

    else if (value == 'K') //ARM STOP
    {
      stop_servo();
    }

    else if (value == 'J') //ARM LEFT
    {
      if (!digitalRead(PROXY_LEFT))
        return;
      steps = 0;
      digitalWrite(dirx, HIGH);
      enable_xaxis_stepper();
      proxy_to_read = PROXY_LEFT;
    }

    else if (value == 'L') //ARM RIGHT
    {
      if (!digitalRead(PROXY_RIGHT))
        return;
      digitalWrite(dirx, LOW);
      enable_xaxis_stepper();
      proxy_to_read = PROXY_RIGHT;
    }
    else if (value == 'B')
    {
      stop_arm_stepper();
    }
  }
}
#endif // _bluetooth_H