Arduino 4-wheel drive Bluetooth controlled car

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Bluetooth control via Arduino App

Code used:
#include <Arduino.h>

int MOTORLEFT[2] = {2, 3};

int MOTORRIGHT[2] = {4, 5};
unsigned long millisflag;
boolean ismoving = false;
int baseSpeed = 255; // Base speed for forward and backward movement
float turnSpeedMultiplier = 0.5; // Speed multiplier for turning (adjust as needed)

void setup() {
Serial.begin(9600);
Serial.setTimeout(50);
for (int i = 0; i < 2; i++) {
pinMode(MOTORLEFT[i], OUTPUT);
pinMode(MOTORRIGHT[i], OUTPUT);
}
}

void loop() {
if (Serial.available()) {
String Serialdata = Serial.readString();

if (Serialdata.indexOf('W') > -1) {

Serial.println("forward");
moveForward();
ismoving = true;
millisflag = millis();
}
else if (Serialdata.indexOf("S") > -1) {
Serial.println("backward");
moveBackward();
ismoving = true;
millisflag = millis();
}
else if (Serialdata.indexOf("D") > -1) {
Serial.println("right");
turnRight();
ismoving = true;
millisflag = millis();
}
else if (Serialdata.indexOf("A") > -1) {
Serial.println("left");
turnLeft();
ismoving = true;
millisflag = millis();
}
else if (Serialdata.indexOf("F") > -1) {
Serial.println("stop");
 moveStop();
ismoving = true;
millisflag = millis();
}

delay(200);
}

if (((millis() - millisflag) > 200) && ismoving) {

moveStop();
ismoving = false;
}
}

void moveStop() {
for (int i = 0; i < 2; i++) {
digitalWrite(MOTORRIGHT[i], LOW);
digitalWrite(MOTORLEFT[i], LOW);
}
}

void moveForward() {
analogWrite(MOTORRIGHT[0], baseSpeed);
analogWrite(MOTORLEFT[0], baseSpeed);
digitalWrite(MOTORRIGHT[1], LOW);
digitalWrite(MOTORLEFT[1], LOW);
}
void moveBackward() {
digitalWrite(MOTORRIGHT[0], LOW);
digitalWrite(MOTORLEFT[0], LOW);
analogWrite(MOTORRIGHT[1], baseSpeed);
analogWrite(MOTORLEFT[1], baseSpeed);
}

void turnLeft() {
analogWrite(MOTORRIGHT[0], baseSpeed * turnSpeedMultiplier);
digitalWrite(MOTORLEFT[0], LOW);
digitalWrite(MOTORRIGHT[1], LOW);
analogWrite(MOTORLEFT[1], baseSpeed * turnSpeedMultiplier);
}

void turnRight() {
digitalWrite(MOTORRIGHT[0], LOW);
analogWrite(MOTORLEFT[0], baseSpeed * turnSpeedMultiplier);
analogWrite(MOTORRIGHT[1], baseSpeed * turnSpeedMultiplier);
digitalWrite(MOTORLEFT[1], LOW);
}
Diagram:

Members:
Aaron Hernandez
Dancel Dela Cruz
Richard Kurt Dave
Fidel Salagubang
Keni Yema
Simon Lalusis
Tristan Ulita
Vince Tagle
Zach Mercado
Khyle Japlos
Asher Paulo