Car Robot BLDC BT Simple MIT App Inventor

#include <SoftwareSerial.h>

SoftwareSerial mySerial(7, 6); // RX, TX


//////////////////////////////////////////////////////////////////////////
//Left Motors Pin Connections To Arduino Uno
//////////////////////////////////////////////////////////////////////////
const int L_Motor_PIN_DIR = 2;    // Motor direction signal
const int L_Motor_PIN_BRK = 3;    // Motor Break signal
const int L_Motor_PIN_PWM = 9;    // 490Hz pins 3, 9, 10, 11
const int L_Motor_PIN_S   = 12;    // Motor Speed Input signal
//////////////////////////////////////////////////////////////////////////
//------------------------------------------------------------------------
//////////////////////////////////////////////////////////////////////////
//Right Motors Pin Connections To Arduino Uno
//////////////////////////////////////////////////////////////////////////
const int R_Motor_PIN_DIR = 4;    // Motor direction signal
const int R_Motor_PIN_BRK = 5;    // Motor Break signal
const int R_Motor_PIN_PWM = 10;   // 490Hz pins 3, 9, 10, 11
const int R_Motor_PIN_S   = 11;    // Motor Speed Input signal
//////////////////////////////////////////////////////////////////////////
int set_Speed = 25;
int tSafeTime = 100;
int timeForEachMotion = 500;


unsigned char Bluetooth_val;


void hornON() {
  digitalWrite(13, 1);
}
void hornOFF() {
  digitalWrite(13, 0);
}

void setup() {
  pinMode(13, OUTPUT);
  Serial.begin(9600);
  mySerial.begin(9600);
  setupMotorDriversPins();
  Break_All_Motors();

}

void loop() {
  readingBT();
}//end of Loop


void readingBT() {
  if (mySerial.available()) {
    Bluetooth_val = mySerial.read();
    Serial.println(char(Bluetooth_val));
    switch (Bluetooth_val)
    {
      case '1':
        Front (set_Speed, timeForEachMotion);
        //safeGuardMotors();
        //Break_All_Motors();
        break;
      case '2':
        Back  (set_Speed, timeForEachMotion);
        //safeGuardMotors();
        // Break_All_Motors();
        break;
      case '3':
        Left  (set_Speed, timeForEachMotion);
        //safeGuardMotors();
        // Break_All_Motors();
        break;
      case '4':
        Right (set_Speed, timeForEachMotion);
        //safeGuardMotors();
        //Break_All_Motors();
        break;
      case '5': Break_All_Motors();
        break;
      case 'G': Break_All_Motors();
        break;
      case 'I': Break_All_Motors();
        break;
      case 'H': Break_All_Motors();
        break;
      case 'J': Break_All_Motors();
        break;
      case 'W': Break_All_Motors();
        break;
      case 'w': Break_All_Motors();
        break;
      case 'U': Break_All_Motors();
        break;
      case 'u': Break_All_Motors();
        break;
      case 'V': hornON();
        break;
      case 'v': hornOFF();
        break;
      case 'X': Break_All_Motors();
        break;
      case 'x': Break_All_Motors();
        break;
      case 'D': Break_All_Motors();
        break;
    }
  }
}



void setupMotorDriversPins() {
  pinMode(L_Motor_PIN_DIR, OUTPUT);
  pinMode(L_Motor_PIN_BRK, OUTPUT);
  pinMode(L_Motor_PIN_PWM, OUTPUT);
  pinMode(L_Motor_PIN_S, INPUT);
  pinMode(R_Motor_PIN_DIR, OUTPUT);
  pinMode(R_Motor_PIN_BRK, OUTPUT);
  pinMode(R_Motor_PIN_PWM, OUTPUT);
  pinMode(R_Motor_PIN_S, INPUT);
}

void Break_All_Motors() {
  digitalWrite(L_Motor_PIN_BRK, 1);
  digitalWrite(R_Motor_PIN_BRK, 1);
}

void Front(int setTheSpeed, int timeToDelay) {
  safeGuardMotors();
  analogWrite(L_Motor_PIN_PWM, setTheSpeed);//15
  analogWrite(R_Motor_PIN_PWM, setTheSpeed);//15
  digitalWrite(L_Motor_PIN_DIR, 1);
  digitalWrite(R_Motor_PIN_DIR, 0);
  delay(timeToDelay);
}

void Back(int setTheSpeed, int timeToDelay) {
  safeGuardMotors();
  analogWrite(L_Motor_PIN_PWM, setTheSpeed);//15
  analogWrite(R_Motor_PIN_PWM, setTheSpeed);//15
  digitalWrite(L_Motor_PIN_DIR, 0);
  digitalWrite(R_Motor_PIN_DIR, 1);
  delay(timeToDelay);
}


void Right(int setTheSpeed, int timeToDelay) {
  safeGuardMotors();
  analogWrite(L_Motor_PIN_PWM, setTheSpeed);//15
  analogWrite(R_Motor_PIN_PWM, setTheSpeed);//15
  digitalWrite(L_Motor_PIN_DIR, 1);
  digitalWrite(R_Motor_PIN_DIR, 1);
  delay(timeToDelay);
}

void Left(int setTheSpeed, int timeToDelay) {
  safeGuardMotors();
  analogWrite(L_Motor_PIN_PWM, setTheSpeed);//15
  analogWrite(R_Motor_PIN_PWM, setTheSpeed);//15
  digitalWrite(L_Motor_PIN_DIR, 0);
  digitalWrite(R_Motor_PIN_DIR, 0);
  delay(timeToDelay);
}

void safeGuardMotors() {
  delay(tSafeTime);
  digitalWrite(L_Motor_PIN_BRK, 0);
  digitalWrite(R_Motor_PIN_BRK, 0);
  delay(tSafeTime);
}