#include<stdio.

h>
#include"TinyGPS++.h"
#include<SoftwareSerial.h>

SoftwareSerial myserial1(10,11);
SoftwareSerial myserial2(6,7);
TinyGPSPlus gps;
int latitude,longitude;
int present=0;

int m1=2;
int m2=3;
int m3=4;
int m4=5;
int obj=9;
void setup() {
// put your setup code here, to run once:
Serial.begin(9600);
myserial1.begin(9600);
myserial2.begin(9600);
pinMode(9,OUTPUT);
pinMode(10,OUTPUT);
pinMode(m1,OUTPUT);
pinMode(m2,OUTPUT);
pinMode(m3,OUTPUT);
pinMode(m4,OUTPUT);
pinMode(obj,INPUT);
}
void loop() {
// put your main code here, to run repeatedly:
unsigned char t;
digitalWrite(9,HIGH);
digitalWrite(10,HIGH);
if(Serial.available()>0){
t=Serial.read();
if(t=='F'){
digitalWrite(m1,HIGH);
digitalWrite(m2,LOW);
digitalWrite(m3,HIGH);
digitalWrite(m4,LOW);
}
else if(t=='B'){
digitalWrite(m1,LOW);
digitalWrite(m2,HIGH);
digitalWrite(m3,LOW);
digitalWrite(m4,HIGH);
}
else if(t=='L'){
digitalWrite(m1,LOW);
digitalWrite(m2,HIGH);
digitalWrite(m3,HIGH);
digitalWrite(m4,LOW);
}
else if(t=='R'){
digitalWrite(m1,HIGH);
digitalWrite(m2,LOW);
digitalWrite(m3,LOW);
digitalWrite(m4,HIGH);
}
 else{
digitalWrite(m1,LOW);
digitalWrite(m2,LOW);
digitalWrite(m3,LOW);
digitalWrite(m4,LOW);
}
}
if(digitalRead(obj)==HIGH){
while(digitalRead(obj)==HIGH){
digitalWrite(m1,LOW);
digitalWrite(m2,HIGH);
digitalWrite(m3,HIGH);
digitalWrite(m4,LOW);
}
digitalWrite(m1,LOW);
digitalWrite(m2,LOW);
digitalWrite(m3,LOW);
digitalWrite(m4,LOW);
}
if(present==10000) {
present=0;
myserial2.println("AT+CMGF=1");
myserial2.println("AT+CMGS=\"+91xxxxxxxxxx\"\r");
myserial2.print(gps.location.lat(),6);
myserial2.print(",");
myserial2.print(gps.location.lng(),6);
myserial2.println();
}
present++;
}