Patton Robotics Resource Site

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

SoftwareSerial mySerial(A1, A0); // RX, TX

char order; //Variable to hold Serial Command

AF_DCMotor rMotor(1, MOTOR12_64KHZ); // create motor #1, 64KHz pwm
AF_DCMotor lMotor(2, MOTOR12_64KHZ); // create motor #2, 64KHz pwm
AF_DCMotor liftMotor(3, MOTOR12_64KHZ); // create motor #2, 64KHz pwm

void setup() {
  Serial.begin(9600);
  pinMode(13,OUTPUT);
  delay(3000);
  digitalWrite(13,HIGH);
  delay(1000);
  digitalWrite(13,LOW);
  mySerial.begin(9600);
//  mySerial.println("Hello, world?");
}

void loop() {
   if (mySerial.available())
    order = mySerial.read();

  if (order == 'f') {
    forward(200);
  }
  if (order == 'b') {
    reverse(100);
  }
  if (order == 'r') {
    tRight(100);
  }
  if (order == 'l') {
    tLeft(100);
  }
  if (order == 's') {
    stopBot(100);
  }
  if (order == 'd') {
    lDown(100);
  }
  if (order == 'u') {
    lUp(100);
  }

  stopBot(10);  // go forward for 10 milliseconds
}

void forward(int dlay) {
  rMotor.setSpeed(255);
  lMotor.setSpeed(255);
  rMotor.run(FORWARD);      // turn it on going forward
  lMotor.run(FORWARD);      // turn it on going forward
  delay(dlay);
}

void reverse(int dlay) {
  rMotor.setSpeed(255);
  lMotor.setSpeed(255);
  rMotor.run(BACKWARD);      // turn it on going forward
  lMotor.run(BACKWARD);      // turn it on going forward
  delay(dlay);
}

void tLeft(int dlay) {  //Turn Right
  rMotor.setSpeed(255);
  lMotor.setSpeed(255);
  rMotor.run(FORWARD);      // turn it on going forward
  lMotor.run(BACKWARD);      // turn it on going forward
  delay(dlay);
}

void tRight(int dlay) {  //Turn Right
  rMotor.setSpeed(255);
  lMotor.setSpeed(255);
  rMotor.run(BACKWARD);      // turn it on going forward
  lMotor.run(FORWARD);      // turn it on going forward
  delay(dlay);
}

void stopBot(int dlay) {  //Turn Right
  rMotor.run(RELEASE);      // Stop Motor
  lMotor.run(RELEASE);      // Stop Motor
  liftMotor.run(RELEASE);      // Stop Motor
  delay(dlay);
}

void lUp(int dlay) { // Lift Upish
  liftMotor.setSpeed(255);
  liftMotor.run(FORWARD);      // turn it on going forward
  delay(dlay);
}

void lDown(int dlay) { // Lift Downish
  liftMotor.setSpeed(255);
  liftMotor.run(BACKWARD);      // turn it on going forward
  delay(dlay);
}