#include <SoftwareSerial.

h>
SoftwareSerial mySerial(12, 13); // RX, TX
#define m1 3
#define m2 5
#define m3 9
#define m4 10
int data=0,kec=0;
boolean maju=true;
//array kecepatan
int fast[11]={0,80,100,120,140,160,180,200,220,240,255};
void setup()
{
pinMode(m1,OUTPUT);
pinMode(m2,OUTPUT);
pinMode(m3,OUTPUT);
pinMode(m4,OUTPUT);
// for HC-05 use 38400 when poerwing with KEY/STATE set to HIGH on power on
mySerial.begin(9600);
}
void motorOut(unsigned char lpwm, unsigned char rpwm, boolean arrow){
//arrow=false=maju; arrow=true=mundur;
if(arrow==false){
digitalWrite(m3,HIGH);
digitalWrite(m1,LOW);
analogWrite(m4,255-lpwm);
analogWrite(m2,rpwm);
}
else{
digitalWrite(m3,LOW);
digitalWrite(m1,HIGH);
analogWrite(m4,lpwm);
analogWrite(m2,255-rpwm);
}
}
void loop(){
if(mySerial.available()>0){
data=mySerial.read();
//penyimpan data kecepatan
if (data =='0') { kec=0;}
else if (data =='1') { kec=1;}
else if (data =='2') { kec=2;}
else if (data =='3') { kec=3;}
else if (data =='4') { kec=4;}
else if (data =='5') { kec=5;}
else if (data =='6') { kec=6;}
else if (data =='7') { kec=7;}
else if (data =='8') { kec=8;}
else if (data =='9') { kec=9;}
else if (data =='q') {kec=10;}

//S= Stop
if (data == 'S')
{ motorOut(0,0,false); }
//F=Maju
If (data=='F')
{ motorOut(fast[kec],fast[kec],true); }
//I=Maju sambil belok kanan
if (data=='I')
{ motorOut(fast[kec],((fast[kec])/2),true);}
//G=Maju sambil belok kiri
if (data=='G')
{ motorOut(((fast[kec])/2),fast[kec],true); }
//R=Belok kanan
if(data=='R')
{ motorOut(fast[kec],0,true); }
//L=Belok kiri
if(data=='L')
{ motorOut(0,fast[kec],true); }
//B=Mundur
if(data=='B')
{ motorOut(fast[kec],fast[kec],false); }
//H=Mundur kiri
if (data=='H')
{ motorOut(((fast[kec])/2),fast[kec],false); }
//Mundur kanan
if (data=='J')
{ motorOut(fast[kec],((fast[kec])/2),false); }
}
}