void loop()

{
if (digitalRead(7) == LOW)
{ //if the switch is in the ON position
if (Serial.available() > 0) //if the user has sent a command to the RedBoard
{
botDirection = Serial.readStringUntil(' '); //read the characters in the command until you reach the first
space
distance = Serial.readStringUntil(' '); //read the characters in the command until you reach the second
space

//print the command that was just received in the serial monitor
Serial.print(botDirection);
Serial.print(" ");
Serial.println(distance.toInt());

if (botDirection == "f") //if the entered direction is forward

{
rightMotor(200); //drive the right wheel forward
leftMotor(200); //drive the left wheel forward
sing(1);

delay(driveTime * distance.toInt()); //drive the motors long enough travel the entered distance
rightMotor(0); //turn the right motor off
leftMotor(0); //turn the left motor off
}
else if (botDirection == "b") //if the entered direction is backward
{
rightMotor(-200); //drive the right wheel forward
leftMotor(-200); //drive the left wheel forward

sing(2);
delay(driveTime * distance.toInt()); //drive the motors long enough travel the entered distance
rightMotor(0); //turn the right motor off
leftMotor(0); //turn the left motor off
}
else if (botDirection == "r") //if the entered direction is right
{
rightMotor(-200); //drive the right wheel forward
leftMotor(255); //drive the left wheel forward
delay(turnTime * distance.toInt()); //drive the motors long enough turn the entered distance
rightMotor(0); //turn the right motor off
leftMotor(0); //turn the left motor off
}
else if (botDirection == "l") //if the entered direction is left
{
rightMotor(255); //drive the right wheel forward
leftMotor(-200); //drive the left wheel forward
delay(turnTime * distance.toInt()); //drive the motors long enough turn the entered distance
 rightMotor(0); //turn the right motor off
leftMotor(0); //turn the left motor off
else
{
rightMotor(0); //turn the right motor off
leftMotor(0); //turn the left motor off
}
}
/********************************************************************************/
void rightMotor(int motorSpeed) //function for driving the right motor
{
if (motorSpeed > 0) //if the motor should drive forward (positive speed)
{
digitalWrite(AIN1, HIGH); //set pin 1 to high
digitalWrite(AIN2, LOW); //set pin 2 to low
}
else if (motorSpeed < 0) //if the motor should drive backward (negative speed)
{
digitalWrite(AIN1, LOW); //set pin 1 to low
digitalWrite(AIN2, HIGH); //set pin 2 to high
}
else //if the motor should stop
{
digitalWrite(AIN1, LOW); //set pin 1 to low
digitalWrite(AIN2, LOW); //set pin 2 to low
}
analogWrite(PWMA, abs(motorSpeed)); //now that the motor direction is set, drive it at the entered
speed
}
/********************************************************************************/
void leftMotor(int motorSpeed) //function for driving the left motor
{
if (motorSpeed > 0) //if the motor should drive forward (positive speed)
{
digitalWrite(BIN1, HIGH); //set pin 1 to high
digitalWrite(BIN2, LOW); //set pin 2 to low
}
else if (motorSpeed < 0) //if the motor should drive backward (negative speed)
{
digitalWrite(BIN1, LOW); //set pin 1 to low
digitalWrite(BIN2, HIGH); //set pin 2 to high
}
else //if the motor should stop
{
digitalWrite(BIN1, LOW); //set pin 1 to low
digitalWrite(BIN2, LOW); //set pin 2 to low
}
analogWrite(PWMB, abs(motorSpeed)); //now that the motor direction is set, drive it at the entered
speed