#include <Arduino.h>
#include <Servo.h>

double angle_rad = PI/180.0;
double angle_deg = 180.0/PI;
double steering;
Servo servo_9;
char inputchar = char();
String string1 = String();
String commandype = String();
String commandvalue = String();

void setup(){
    Serial.begin(57600);
    servo_9.attach(9); // init pin
    pinMode(2,OUTPUT);
    servo_9.write(90); // write to servo
}

void receive_bt() {
    while(!((( inputchar==';'))))
    {
        _loop();
        while(!(Serial.available()))
        {
            _loop();
        }
         inputchar= char(Serial.read());
         string1 += inputchar;
    }
}
void loop(){

inputchar= "";
string1= "";
commandype= "";
commandvalue= "";

  receive_bt();

    commandype= string1.substring(0, 1);
    commandvalue= string1.substring(1, string1.indexOf(';'));
    steering = (40) + commandvalue.toDouble();

    tone(2,262,50); // write to buzzer to indicate data received
    delay(50);

    Serial.print("New instructions recieved;");
    Serial.println(string1);
    Serial.println(commandype);
    Serial.println(commandvalue);
    Serial.println(steering);

    servo_9.write(steering); // write to servo
    inputchar= "";
    string1= "";
}

void _delay(float seconds){
    long endTime = millis() + seconds * 1000;
    while(millis() < endTime)_loop();
}