carro de controle remoto arduino

#include <SoftwareSerial.h>

SoftwareSerial Blue(3, 2); // Rdata, Tdata
int data;

void setup() {
  // put your setup code here, to run once:
 Serial.begin(9600);
  Blue.begin(9600);
  pinMode(5, OUTPUT);//Motor esquerdo
  pinMode(6, OUTPUT);
  pinMode(9, OUTPUT);//Motor direito
  pinMode(10, OUTPUT);
  pinMode(7, OUTPUT);
 }
 void loop()
{
  // low E high frente inverso tras
  char z ;
  while( Blue.available==1){
  digitalWrite(13, LOW);
z = Blue.read();
  if ( z == 'F')
  {

    digitalWrite(5,LOW);
    digitalWrite(6, HIGH);
    digitalWrite(9,HIGH);
    digitalWrite(10, LOW);
    Serial.println("frente");
    delay(50);
  }

   if ( z == 'B')
  {
    digitalWrite(5, HIGH);
    digitalWrite(6, LOW);
    digitalWrite(9, LOW);
    digitalWrite(10, HIGH);
    Serial.println("trás");
    delay(50);
  }

   if ( z == 'L')
  {
    digitalWrite(5, HIGH);
    digitalWrite(6, LOW);
    digitalWrite(9, HIGH);
    digitalWrite(10, LOW);
    Serial.println("esquerdão");
    delay(50);
  }

  if ( z == 'R')
  {
    digitalWrite(5,LOW);
    digitalWrite(6, HIGH);
    digitalWrite(9, LOW);
    digitalWrite(10, HIGH);
    Serial.println("DIREITÃO");
    delay(50);
  }
  }
}