YARiK_997

#include <MeetAndroid.h>

const int EnablePin1 = 3;
 const int EnablePin2 = 6;
 const int Motor_1_A = 2;
 const int Motor_1_B = 4;
 const int Motor_2_A = 5;
 const int Motor_2_B = 7;
 float data[3] = {0};
 int intdata[3] = {0};
 int i = 1;


 MeetAndroid meetAndroid(error);

 void error(uint8_t flag, uint8_t values)
 {
   Serial.print("ERROR: ");
   Serial.print(flag);
 }


   void setup() {
   Serial.begin(9600);
   Serial.println("\t\t\t.----------------------.");
   Serial.println("\t\t\t|    Starting Up..     |");
   Serial.println("\t\t\t'----------------------'");
   pinMode(EnablePin1, OUTPUT);
   pinMode(EnablePin2, OUTPUT);
   pinMode(Motor_1_A, OUTPUT);
   pinMode(Motor_1_B, OUTPUT);
   pinMode(Motor_2_A, OUTPUT);
   pinMode(Motor_2_B, OUTPUT);
   delay(1000); 
  
  
   meetAndroid.registerFunction(floatValues, 'A'); 


 }

 void loop()
 {
   meetAndroid.receive(); 
 }
 void floatValues(byte flag, byte numOfValues)
 {
  
   meetAndroid.getFloatValues(data);
  
   for (int i=0; i<3;i++)
   {
     meetAndroid.send(data[i]);
   }
  
       if (-10 <= data[0] && data[0] <= 10) //        This is for Forward/Reverse
       {

         intdata[0] = int(data[0]);
         intdata[0] = intdata[0] * 24;
             if (data[0] <= -2)
             {
               intdata[0] = abs(intdata[0]);
               digitalWrite(Motor_1_A, HIGH);
               digitalWrite(Motor_2_A, HIGH);
               digitalWrite(Motor_1_B, LOW);
               digitalWrite(Motor_2_B, LOW);
               analogWrite(EnablePin1, intdata[0]);
               analogWrite(EnablePin2, intdata[0]);
             }
             else if (data[0] >= 2)
             {
               digitalWrite(Motor_1_A, LOW);
               digitalWrite(Motor_2_A, LOW);
               digitalWrite(Motor_1_B, HIGH);
               digitalWrite(Motor_2_B, HIGH);
               analogWrite(EnablePin1, intdata[0]);
               analogWrite(EnablePin2, intdata[0]);
             }  
             else if (-1 <= data[0] && data[0] <= 1)
             {
               digitalWrite(Motor_1_A, LOW);
               digitalWrite(Motor_2_A, LOW);
               digitalWrite(Motor_1_B, LOW);
               digitalWrite(Motor_2_B, LOW);
               digitalWrite(EnablePin1, LOW);
               digitalWrite(EnablePin2, LOW);
             } 
       }


     if (-10 <= data[1] && data[1] <= 10)  //        This is for Turn Left/Turn Right
     {
                 if (data[1] <= -2)
                 {
                   digitalWrite(Motor_1_A, HIGH);
                   digitalWrite(Motor_2_B, HIGH);
                   digitalWrite(Motor_1_B, LOW);
                   digitalWrite(Motor_2_A, LOW);
                   analogWrite(EnablePin1, intdata[0]);
               analogWrite(EnablePin2, intdata[0]);
                 }
                 else if (data[1] >= 2)
                 {
                   digitalWrite(Motor_1_A, LOW);
                   digitalWrite(Motor_2_B, LOW);
                   digitalWrite(Motor_1_B, HIGH);
                   digitalWrite(Motor_2_A, HIGH);
                   analogWrite(EnablePin1, intdata[0]);
                   analogWrite(EnablePin2, intdata[0]);
                 }
                 else if (-1 <= data[1] && data[1] <= 1)
                 {
                   digitalWrite(Motor_1_A, LOW);
                   digitalWrite(Motor_2_A, LOW);
                   digitalWrite(Motor_1_B, LOW);
                   digitalWrite(Motor_2_B, LOW);
                   digitalWrite(EnablePin1, LOW);
                   digitalWrite(EnablePin2, LOW);
                 }    
     }
 }