#include <SoftwareSerial.

h>

SoftwareSerial btSerial (3,2); //RX,TX

#define suruh_maju 'F'

#define suruh_mundur 'B'

#define suruh_kanan 'R'

#define suruh_kiri 'L'

#define suruh_diam 'S'

int in1 = 4;

int in2 = 6;

int in3 = 7;

int in4 = 8;

int ena = 9;

int enb = 12;

char data;

void setup() {

// put your setup code here, to run once:

Serial.begin(9600);

btSerial.begin(9600);

pinMode ( in1, OUTPUT );

pinMode ( in2, OUTPUT );

pinMode ( in3, OUTPUT );

pinMode ( in4, OUTPUT );

pinMode ( ena, OUTPUT );

pinMode ( enb, OUTPUT );

void loop() {

// put your main code here, to run repeatedly:

if(btSerial.available()){

data = btSerial.read();

Serial.println(data);

if(data == suruh_maju){

Serial.println("maju");

maju(255);

else if (data == suruh_mundur){

Serial.println("mundur");

mundur(255);

else if (data == suruh_kanan){

Serial.println("kanan");

putar_kanan(255);

else if (data == suruh_kiri){

 Serial.println("kiri");

putar_kiri(255);

else if (data == suruh_diam){

Serial.println("diam");

diam(255);

void maju(int pwm){

digitalWrite (in1, HIGH);

digitalWrite (in2, LOW);

digitalWrite (in3, LOW);

digitalWrite (in4, HIGH);

analogWrite (ena, pwm);

analogWrite (enb, pwm);

void mundur(int pwm){

digitalWrite (in1, LOW);

digitalWrite (in2, HIGH);

digitalWrite (in3, HIGH);

digitalWrite (in4, LOW);

analogWrite (ena, pwm);

analogWrite (enb, pwm);

}
void putar_kiri(int pwm){

digitalWrite (in1, HIGH);

digitalWrite (in2, LOW);

digitalWrite (in3, HIGH);

digitalWrite (in4, LOW);

analogWrite (ena, pwm);

analogWrite (enb, pwm);

void putar_kanan(int pwm){

digitalWrite (in1, LOW);

digitalWrite (in2, HIGH);

digitalWrite (in3, LOW);

digitalWrite (in4, HIGH);

analogWrite (ena, pwm);

analogWrite (enb, pwm);

void diam(int pwm){

digitalWrite (in1, LOW);

digitalWrite (in2, LOW);

digitalWrite (in3, LOW);

digitalWrite (in4, LOW);

analogWrite (ena, pwm);

analogWrite (enb, pwm);