int Motor11 = 51;
int Motor12 = 50;
int Motor21 = 53;
int Motor22 = 52;
int PWMmotor1 = 11;
int PWMmotor2 = 12;
int turn_delay = 10;
int valuePWM3=100; // speed motor 1 
int valuePWM1=90;
int valuePWM4=255;
int valuePWM2=255; // speed motor 2
int valuePWM5=60;
int valuePWM6=90;
int state; 
int a=1;
int b=0;
int c=0;
int buzzer=28;
const int led =13; 
const int led2 =38;

const int TRIGGER_PIN = 2;
const int ECHO_PIN = 3;

const int TRIGGER_PIN2 = 4;
const int ECHO_PIN2 = 5;

const int TRIGGER_PIN3 = 6;
const int ECHO_PIN3 = 7;

float i = 0, j=0;
void setup()
{
  pinMode (TRIGGER_PIN, OUTPUT);
  pinMode (ECHO_PIN, INPUT);
  pinMode (TRIGGER_PIN2, OUTPUT);
  pinMode (ECHO_PIN2, INPUT);
  pinMode (TRIGGER_PIN3, OUTPUT);
  pinMode (ECHO_PIN3, INPUT);
  
  pinMode(Motor11,OUTPUT);
  pinMode(Motor12,OUTPUT);
  pinMode(Motor21,OUTPUT);
  pinMode(Motor22,OUTPUT);
  pinMode(PWMmotor1,OUTPUT);
  pinMode(PWMmotor2,OUTPUT);

  pinMode(led,OUTPUT);    
  pinMode(led2,OUTPUT);

  Serial.begin(9600);
  delay(500); 

}
void loop() 
{


if(Serial.available()>0)
{
  
  
   state = Serial.read();
   delay(80);
  
}   
Serial.print("\n state= ");
Serial.print(state);

bluetooth();

}
void bluetooth()
{
   float distance,distance2,distance3;
     unsigned long duration,duration2,duration3;
    //Ultrasonic 1 ( In fata)
  digitalWrite(TRIGGER_PIN, LOW);
  delayMicroseconds(2);
  digitalWrite(TRIGGER_PIN, HIGH);
  delayMicroseconds(10);
  digitalWrite(TRIGGER_PIN, LOW);
  duration = pulseIn (ECHO_PIN, HIGH);
  distance = duration * 0.034 / 2;
  
    digitalWrite(Motor11, LOW);
    digitalWrite(Motor12, LOW);
    digitalWrite(Motor21, LOW);
    digitalWrite(Motor22, LOW);
    analogWrite(PWMmotor1, 0);
    analogWrite(PWMmotor2, 0);

    digitalWrite(led, a);
    digitalWrite(led2, LOW);

switch(state)
{
  case 1:
  forward_B();
  digitalWrite(led2, LOW);
   if(distance<=15)
  {
  stop();
  tone(buzzer,450);
  delay(1000);
  noTone(buzzer);
  delay(1000);
  }
  break;
  case 2:
  back_B(); 
  digitalWrite(led2, LOW);
  break;
  case 3: 
  right_B(); 
  digitalWrite(led2, LOW);
  break;
  case 4:
  left_B();
  digitalWrite(led2, LOW);
  break;
  case 5:
  right_up_B();
  digitalWrite(led2, LOW);
  break;
  case 6:
  left_up_B();
  digitalWrite(led2, LOW);
  break;
  case 7:
  right_down_B();
  digitalWrite(led2, LOW);
  break;
  case 8:
  left_down_B();
  digitalWrite(led2, LOW);
  break;
  case 9:
  stop();
  digitalWrite(led2, HIGH);
  break;
  case 10:
 a=!a;
  break;
  case 11:
  digitalWrite(led, 1);
  digitalWrite(led2, 1);
  delay(500);
  digitalWrite(led, 0);
  digitalWrite(led2, 0);
  delay(500);
  break;
  case 12:
  tone(buzzer,450);
  delay(1000);
  noTone(buzzer);
  delay(1000);
  break;
   case 13:
 a=a;
  break;
  
}

}
void forward_B()
  {
    digitalWrite(Motor11, HIGH);
    digitalWrite(Motor12, LOW);
    digitalWrite(Motor21, HIGH);
    digitalWrite(Motor22, LOW);
    analogWrite(PWMmotor1, valuePWM4);
    analogWrite(PWMmotor2, valuePWM4);  
  }
  void back_B()
  {
    digitalWrite(Motor11, LOW);
    digitalWrite(Motor12, HIGH);
    digitalWrite(Motor21, LOW);
    digitalWrite(Motor22, HIGH);
    analogWrite(PWMmotor1, valuePWM4);
    analogWrite(PWMmotor2, valuePWM4);
  }
  void right_B()
  {
    digitalWrite(Motor11, LOW);
    digitalWrite(Motor12, HIGH);
    digitalWrite(Motor21, HIGH);
    digitalWrite(Motor22, LOW);
    analogWrite(PWMmotor1, valuePWM4);
    analogWrite(PWMmotor2, valuePWM4);
    delay(turn_delay);
  }
  void left_B()
  {
    digitalWrite(Motor11, HIGH);
    digitalWrite(Motor12, LOW);
    digitalWrite(Motor21, LOW);
    digitalWrite(Motor22, HIGH);
    analogWrite(PWMmotor1, valuePWM4);
    analogWrite(PWMmotor2, valuePWM4);
    delay(turn_delay);
  }

  void left_up_B()
  {
    digitalWrite(Motor11, HIGH);
    digitalWrite(Motor12, LOW);
    digitalWrite(Motor21, HIGH);
    digitalWrite(Motor22, LOW);
    analogWrite(PWMmotor1, valuePWM3);
    analogWrite(PWMmotor2, valuePWM4);  
  }
  void right_up_B()
  {
    digitalWrite(Motor11, HIGH);
    digitalWrite(Motor12, LOW);
    digitalWrite(Motor21, HIGH);
    digitalWrite(Motor22, LOW);
    analogWrite(PWMmotor1, valuePWM4);
    analogWrite(PWMmotor2, valuePWM3);  
  }
  void left_down_B()
  {
    digitalWrite(Motor11, LOW);
    digitalWrite(Motor12, HIGH);
    digitalWrite(Motor21, LOW);
    digitalWrite(Motor22, HIGH);
    analogWrite(PWMmotor1, valuePWM3);
    analogWrite(PWMmotor2, valuePWM4); 
  }
  void right_down_B()
  {
    digitalWrite(Motor11, LOW);
    digitalWrite(Motor12, HIGH);
    digitalWrite(Motor21, LOW);
    digitalWrite(Motor22, HIGH);
    analogWrite(PWMmotor1, valuePWM4);
    analogWrite(PWMmotor2, valuePWM3); 
  }
    void stop()
  {
    digitalWrite(Motor11, LOW);
    digitalWrite(Motor12, LOW);
    digitalWrite(Motor21, LOW);
    digitalWrite(Motor22, LOW);
    analogWrite(PWMmotor1, 0);
    analogWrite(PWMmotor2, 0);
  }