Wall-E

1/*this code for Wall-E movements(legs)and talking with Wall-E.
2 * 1Shield   is our main controller with Arduino in our project, therfore there is a prif about   it:
3 * 1Shield is multi sheelds, you can connect it with your phone throw bluetooth   and then you can access all your mobile sensors. 
4     All you need the shield,   library for programming and you can download it from thier website(http://1sheeld.com/)   and the phone app you can download it from the play store.
5     If you opened   the 1Shield app on your phone, you'll see the shields that you can use.
6     We   are going to mention some of the shield we uesd.
7     
8 movements:
9   we   used gamepad shield from 1shield shields for movements control, it's like joy-stick   except that it is on your phone.
10
11 Talking with Wall-E:
12   For talking   with Wall-E there is two things, first how could Wall-E hear and understand our   voices and how he would reply on us!!
13   We used voice recognizer shield from   1Shield shields, we are going to explain how did we use it in the code.
14   For   replying, we used SD module for plying spicific voices that Wall-E was saying in   the movie.
15
16
17Created on 22/02/2017
18by Makers team in pixels.
19 */
20
21//first   you need to include 1Shield library and define the shields you are going to use,   you can know more about this from 1shield examples.
22#define CUSTOM_SETTINGS
23#define   INCLUDE_GAMEPAD_SHIELD
24#define INCLUDE_VOICE_RECOGNIZER_SHIELD
25#define INCLUDE_TERMINAL_SHIELD
26#include   <OneSheeld.h> 
27
28//include SD library and music library.
29#include <SPI.h>
30#include   <SD.h>
31#include <TMRpcm.h>
32
33/*for voice recognizer shield you need to define   the word or the sentence that you want Wall-E to understand it.*/
34//wall-e sentence   (you can put any sentence or word you want).
35const char NameOne[] = "name";
36const   char NameTwo[] = "what's your name";
37const char NameThree[]= "tell me your   name";
38
39//eva sentence.
40const char EvaOne[] = "what's her name";
41const   char EvaTwo[] = "eva";
42const char EvaThree[] = "do you have a friend";
43//song   sentence.
44const char SongCommand[] = "song";
45
46/* The circuit for SD Module:
47   * SD card attached to SPI bus as follows:
48 ** MOSI - pin 11 on Arduino Uno/Duemilanove/Diecimila
49   ** MISO - pin 12 on Arduino Uno/Duemilanove/Diecimila
50 ** CLK - pin 13 on Arduino   Uno/Duemilanove/Diecimila
51 ** CS - depends on your SD card shield or module.
52      Pin 4 or 3 used here for consistency with other Arduino examples*/
53const   int chipSelect = 3;
54
55//define the music pin.
56TMRpcm tmrpcm;
57
58//define   the Relays pin on Arduino.
59#define MOTOR1_RELAY1 4
60#define MOTOR1_RELAY2 5
61#define   MOTOR2_RELAY1 6
62#define MOTOR2_RELAY2 7
63
64//movement function.
65
66//Stop   moving.
67void Stop() {
68  digitalWrite( MOTOR1_RELAY1, HIGH);
69  digitalWrite(   MOTOR1_RELAY2, HIGH);
70  digitalWrite( MOTOR2_RELAY1, HIGH);
71  digitalWrite(   MOTOR2_RELAY2, HIGH);}
72  
73// Move forward.
74void forward () {
75   digitalWrite(   MOTOR1_RELAY1, HIGH);
76   digitalWrite( MOTOR1_RELAY2, LOW);
77   digitalWrite(   MOTOR2_RELAY1, HIGH);
78   digitalWrite( MOTOR2_RELAY2, LOW);}
79
80//Move backward.
81void   backward() {
82   digitalWrite( MOTOR1_RELAY1, LOW);
83   digitalWrite( MOTOR1_RELAY2,   HIGH);
84   digitalWrite( MOTOR2_RELAY1, LOW);
85   digitalWrite( MOTOR2_RELAY2,   HIGH);}
86
87//Move right.
88void moveRight() {
89   digitalWrite( MOTOR1_RELAY1,HIGH);
90    digitalWrite( MOTOR1_RELAY2,LOW);
91   digitalWrite( MOTOR2_RELAY1,LOW);
92    digitalWrite( MOTOR2_RELAY2,HIGH);}
93
94//Move left
95void moveLeft() {
96    digitalWrite( MOTOR1_RELAY1, LOW);
97   digitalWrite( MOTOR1_RELAY2, HIGH);
98    digitalWrite( MOTOR2_RELAY1, HIGH);
99   digitalWrite( MOTOR2_RELAY2, LOW);}
100    
101void setup() {
102  //begine 1Shield.
103  OneSheeld.begin();
104  VoiceRecognition.start();
105   //define the Relays pin as output pin by for loop for reducing the code.
106  for   (int i = 4 ; i < 8 ; i++) {
107    pinMode(i, OUTPUT); 
108    digitalWrite(i,LOW);}
109   //define the speaker pin you should put it on pwm pin.
110  tmrpcm.speakerPin   = 9;
111  //the next steps are just for making sure that the SD card is ready and   initialized.
112  Serial.begin(115200);
113  Serial.print("\
114Initializing SD card...");
115   
116  if (!SD.begin(chipSelect)) {
117    Serial.println("initialization failed.   Things to check:");
118    Serial.println("* is a card is inserted?");
119    Serial.println("*   Is your wiring correct?");
120    Serial.println("* did you change the chipSelect   pin to match your shield or module?");} 
121  else {
122     Serial.println("card   initialized.");}
123     tmrpcm.play("s.wav");
124     Serial.print("f");}
125
126void   loop() {
127 //starting the voice recognizer shield to receive commands.
128 if(VoiceRecognition.isNewCommandReceived())
129   //making comparing between the sentence you saved and the commands Arduino will   receive from 1Shield.
130  {if(!strcmp(NameOne,VoiceRecognition.getLastCommand())||   !strcmp(NameTwo,VoiceRecognition.getLastCommand())|| !strcmp(NameThree,VoiceRecognition.getLastCommand())){
131       tmrpcm.play("Wall16.wav");}
132   
133    else if (!strcmp(EvaOne,VoiceRecognition.getLastCommand())||!strcmp(EvaTwo,VoiceRecognition.getLastCommand())||!strcmp(EvaThree,VoiceRecognition.getLastCommand()))
134       {tmrpcm.play("eva1.wav");}
135    
136    else if (!strcmp(SongCommand,VoiceRecognition.getLastCommand())){
137       tmrpcm.play("s.wav");}}
138
139//moving orders using gamepad.
140if(GamePad.isUpPressed())
141   {forward();}
142if(GamePad.isDownPressed())
143  {backward();}
144 if(GamePad.isLeftPressed())
145   {moveLeft();}
146if(GamePad.isRightPressed())
147  {moveRight();}
148if (GamePad.isRedPressed())
149   {Stop();}}
150
151
152

1/*This code for Wall-E's arm movment.
2   We used bluetooth module to   control it by the mobile application on phone.
3   Bluetooth module are connecting   with the arduino throw serial communication.
4   You can download any bluetooth   app from play store.
5   * Receives from the hardware serial(Bluetooth module),   sends to software serial(Arduino).
6   * Receives from software serial(Arduino),   sends to hardware serial(Bluetooth module).
7
8
9Created on 22/02/2017
10by   Makers team in pixels. 
11*/
12
13//include bluetooth library.
14#include<SoftwareSerial.h>
15
16//define   the Relays pin on Arduino.
17#define MOTORright_RELAY1 A1
18#define MOTORright_RELAY2   A2
19#define MOTORleft_RELAY1 A3
20#define MOTORleft_RELAY2 A4
21
22/* The circuit:
23   * RX is digital pin 3 (connect to TX of bluetooth module).
24 * TX is digital pin   5 (connect to RX of bluetooth module). */ 
25SoftwareSerial HC05(3,5);// RX, TX
26/*   Firstly you should get the numbers for each button you are going to use in your   mobile app, that TX is sending from bluetooth module to RX of Arduino.
27 *  You   can get the numbers from the SoftwareSerial example.
28 *  Then you need to save   it as int, therefore you need to define a int value.
29*/
30int x;
31
32
33//movement   function.
34/* For moving the arms up and down, we used two buttons for each arm   movement.
35  * For moving right arm up we used upright, and For moving right arm   down we used downright.
36  * For moving left arm up we used upleft, and For moving   left arm down we used downleft.
37*/
38
39//Stop moving.
40void Stop() {
41   digitalWrite(MOTORright_RELAY1, HIGH);
42 digitalWrite(MOTORright_RELAY2, HIGH);
43   digitalWrite(MOTORleft_RELAY1, HIGH);
44 digitalWrite(MOTORleft_RELAY2, HIGH);}
45
46//Move   rirht arm Up.
47void upright () {
48  digitalWrite(MOTORright_RELAY1, LOW);
49   digitalWrite(MOTORright_RELAY2, HIGH);}
50
51//Move rirht arm Down.
52void   downright() {
53  digitalWrite(MOTORright_RELAY1, HIGH);
54  digitalWrite(MOTORright_RELAY2,   LOW);}
55
56//Move left arm Up.
57void upleft () {
58  digitalWrite( MOTORleft_RELAY1,   LOW);
59  digitalWrite( MOTORleft_RELAY2, HIGH);}
60
61//Move left arm Down.
62void   downleft() {
63  digitalWrite( MOTORleft_RELAY1, HIGH);
64  digitalWrite( MOTORleft_RELAY2,   LOW);}
65  
66void setup() {
67  //begin he serial connection between the Arduino   and Bluetooth module.
68  Serial.begin(9600);
69  HC05.begin(9600);
70
71  //Define   the Relays pins as Output.
72  pinMode(A1, OUTPUT);
73  pinMode(A2, OUTPUT);
74   pinMode(A3, OUTPUT);
75  pinMode(A4, OUTPUT); 
76  //Define the Relays pins   as High in the beginning of the code.
77  digitalWrite(A1,HIGH);
78  digitalWrite(A2,HIGH);
79   digitalWrite(A3,HIGH);
80  digitalWrite(A4,HIGH);}
81  
82void loop() {
83   /*Start the loop code with if condition for start reading the incoming serial   from the Bluetooth module throw RX on Arduino.
84   * After that start checking   x values and regarding for the coming number.
85   */
86if (HC05.available()){
87    x = HC05.read();}
88    if (x == 73){    
89       Serial.println(x);
90       upleft();}
91     else if (x == 74){  
92       downleft ();
93       Serial.println(x);}
94     else if (x == 71){  
95        upright ();
96        Serial.println(x);}
97     else if (x == 72){  
98        downright();
99        Serial.println(x);}
100     else if ((x != 73)||(x != 74)||(x != 72)||(x != 71)){ 
101        Stop ();
102         Serial.println(x);}}
103
104

1
2/*
3>> Pulse Sensor Amped 1.1 <<
4This code is for Pulse Sensor  Amped by Joel Murphy and Yury Gitman
5    www.pulsesensor.com 
6    >>> Pulse  Sensor purple wire goes to Analog Pin 0 <<<
7Pulse Sensor sample aquisition and  processing happens in the background via Timer 2 interrupt. 2mS sample rate.
8PWM  on pins 3 and 11 will not work when using this code, because we are using Timer  2!
9The following variables are automatically updated:
10Signal :    int that  holds the analog signal data straight from the sensor. updated every 2mS.
11IBI  :      int that holds the time interval between beats. 2mS resolution.
12BPM  :      int that holds the heart rate value, derived every beat, from averaging  previous 10 IBI values.
13QS  :       boolean that is made true whenever Pulse  is found and BPM is updated. User must reset.
14Pulse :     boolean that is true  when a heartbeat is sensed then false in time with pin13 LED going out.
15
16This  code is designed with output serial data to Processing sketch "PulseSensorAmped_Processing-xx"
17The  Processing sketch is a simple data visualizer. 
18All the work to find the heartbeat  and determine the heartrate happens in the code below.
19Pin 13 LED will blink  with heartbeat.
20If you want to use pin 13 for something else, adjust the interrupt  handler
21It will also fade an LED on pin fadePin with every beat. Put an LED and  series resistor from fadePin to GND.
22Check here for detailed code walkthrough:
23http://pulsesensor.myshopify.com/pages/pulse-sensor-amped-arduino-v1dot1
24
25Code  Version 02 by Joel Murphy & Yury Gitman  Fall 2012
26This update changes the HRV  variable name to IBI, which stands for Inter-Beat Interval, for clarity.
27Switched  the interrupt to Timer2.  500Hz sample rate, 2mS resolution IBI value.
28Fade LED  pin moved to pin 5 (use of Timer2 disables PWM on pins 3 & 11).
29Tidied up inefficiencies  since the last version. 
30*/
31
32
33//  VARIABLES
34int pulsePin = 0;                 //  Pulse Sensor purple wire connected to analog pin 0
35int blinkPin = 13;                //  pin to blink led at each beat
36int fadePin = 5;                  // pin to do  fancy classy fading blink at each beat
37int fadeRate = 0;                 // used  to fade LED on with PWM on fadePin
38
39
40// these variables are volatile because  they are used during the interrupt service routine!
41volatile int BPM;                   //  used to hold the pulse rate
42volatile int Signal;                // holds the  incoming raw data
43volatile int IBI = 600;             // holds the time between  beats, the Inter-Beat Interval
44volatile boolean Pulse = false;     // true when  pulse wave is high, false when it's low
45volatile boolean QS = false;        //  becomes true when Arduoino finds a beat.
46
47
48void setup(){
49  pinMode(blinkPin,OUTPUT);         // pin that will blink to your heartbeat!
50  pinMode(fadePin,OUTPUT);          // pin that will fade to your heartbeat!
51  Serial.begin(115200);             //  we agree to talk fast!
52  interruptSetup();                 // sets up to read  Pulse Sensor signal every 2mS 
53   // UN-COMMENT THE NEXT LINE IF YOU ARE POWERING  The Pulse Sensor AT LOW VOLTAGE, 
54   // AND APPLY THAT VOLTAGE TO THE A-REF PIN
55   //analogReference(EXTERNAL);   
56}
57
58
59
60void loop(){
61  sendDataToProcessing('S',  Signal);     // send Processing the raw Pulse Sensor data
62  if (QS == true){                       // Quantified Self flag is true when arduino finds a heartbeat
63        fadeRate = 255;                  // Set 'fadeRate' Variable to 255 to fade  LED with pulse
64        sendDataToProcessing('B',BPM);   // send heart rate with  a 'B' prefix
65        sendDataToProcessing('Q',IBI);   // send time between beats  with a 'Q' prefix
66        QS = false;                      // reset the Quantified  Self flag for next time    
67     }
68  
69  ledFadeToBeat();
70  
71  delay(20);                             //  take a break
72}
73
74
75void ledFadeToBeat(){
76    fadeRate -= 15;                         //  set LED fade value
77    fadeRate  = constrain(fadeRate,0,255);   //  keep LED fade value from going into negative  numbers!
78    analogWrite(fadePin,fadeRate);          //  fade LED
79  }
80
81
82void  sendDataToProcessing(char symbol, int data ){
83    Serial.print(symbol);                //  symbol prefix tells Processing what type of data is coming
84    Serial.println(data);                // the data to send culminating in a carriage return
85  }
86
87
88
89
90
91
92
93

1/*this code for Wall-E movements(legs)and talking with Wall-E.
2 * 1Shield  is our main controller with Arduino in our project, therfore there is a prif about  it:
3 * 1Shield is multi sheelds, you can connect it with your phone throw bluetooth  and then you can access all your mobile sensors. 
4     All you need the shield,  library for programming and you can download it from thier website(http://1sheeld.com/)  and the phone app you can download it from the play store.
5     If you opened  the 1Shield app on your phone, you'll see the shields that you can use.
6     We  are going to mention some of the shield we uesd.
7     
8 movements:
9   we  used gamepad shield from 1shield shields for movements control, it's like joy-stick  except that it is on your phone.
10
11 Talking with Wall-E:
12   For talking  with Wall-E there is two things, first how could Wall-E hear and understand our  voices and how he would reply on us!!
13   We used voice recognizer shield from  1Shield shields, we are going to explain how did we use it in the code.
14   For  replying, we used SD module for plying spicific voices that Wall-E was saying in  the movie.
15
16
17Created on 22/02/2017
18by Makers team in pixels.
19 */
20
21//first  you need to include 1Shield library and define the shields you are going to use,  you can know more about this from 1shield examples.
22#define CUSTOM_SETTINGS
23#define  INCLUDE_GAMEPAD_SHIELD
24#define INCLUDE_VOICE_RECOGNIZER_SHIELD
25#define INCLUDE_TERMINAL_SHIELD
26#include  <OneSheeld.h> 
27
28//include SD library and music library.
29#include <SPI.h>
30#include  <SD.h>
31#include <TMRpcm.h>
32
33/*for voice recognizer shield you need to define  the word or the sentence that you want Wall-E to understand it.*/
34//wall-e sentence  (you can put any sentence or word you want).
35const char NameOne[] = "name";
36const  char NameTwo[] = "what's your name";
37const char NameThree[]= "tell me your  name";
38
39//eva sentence.
40const char EvaOne[] = "what's her name";
41const  char EvaTwo[] = "eva";
42const char EvaThree[] = "do you have a friend";
43//song  sentence.
44const char SongCommand[] = "song";
45
46/* The circuit for SD Module:
47  * SD card attached to SPI bus as follows:
48 ** MOSI - pin 11 on Arduino Uno/Duemilanove/Diecimila
49  ** MISO - pin 12 on Arduino Uno/Duemilanove/Diecimila
50 ** CLK - pin 13 on Arduino  Uno/Duemilanove/Diecimila
51 ** CS - depends on your SD card shield or module.
52     Pin 4 or 3 used here for consistency with other Arduino examples*/
53const  int chipSelect = 3;
54
55//define the music pin.
56TMRpcm tmrpcm;
57
58//define  the Relays pin on Arduino.
59#define MOTOR1_RELAY1 4
60#define MOTOR1_RELAY2 5
61#define  MOTOR2_RELAY1 6
62#define MOTOR2_RELAY2 7
63
64//movement function.
65
66//Stop  moving.
67void Stop() {
68  digitalWrite( MOTOR1_RELAY1, HIGH);
69  digitalWrite(  MOTOR1_RELAY2, HIGH);
70  digitalWrite( MOTOR2_RELAY1, HIGH);
71  digitalWrite(  MOTOR2_RELAY2, HIGH);}
72  
73// Move forward.
74void forward () {
75   digitalWrite(  MOTOR1_RELAY1, HIGH);
76   digitalWrite( MOTOR1_RELAY2, LOW);
77   digitalWrite(  MOTOR2_RELAY1, HIGH);
78   digitalWrite( MOTOR2_RELAY2, LOW);}
79
80//Move backward.
81void  backward() {
82   digitalWrite( MOTOR1_RELAY1, LOW);
83   digitalWrite( MOTOR1_RELAY2,  HIGH);
84   digitalWrite( MOTOR2_RELAY1, LOW);
85   digitalWrite( MOTOR2_RELAY2,  HIGH);}
86
87//Move right.
88void moveRight() {
89   digitalWrite( MOTOR1_RELAY1,HIGH);
90   digitalWrite( MOTOR1_RELAY2,LOW);
91   digitalWrite( MOTOR2_RELAY1,LOW);
92   digitalWrite( MOTOR2_RELAY2,HIGH);}
93
94//Move left
95void moveLeft() {
96   digitalWrite( MOTOR1_RELAY1, LOW);
97   digitalWrite( MOTOR1_RELAY2, HIGH);
98   digitalWrite( MOTOR2_RELAY1, HIGH);
99   digitalWrite( MOTOR2_RELAY2, LOW);}
100   
101void setup() {
102  //begine 1Shield.
103  OneSheeld.begin();
104  VoiceRecognition.start();
105  //define the Relays pin as output pin by for loop for reducing the code.
106  for  (int i = 4 ; i < 8 ; i++) {
107    pinMode(i, OUTPUT); 
108    digitalWrite(i,LOW);}
109  //define the speaker pin you should put it on pwm pin.
110  tmrpcm.speakerPin  = 9;
111  //the next steps are just for making sure that the SD card is ready and  initialized.
112  Serial.begin(115200);
113  Serial.print("\
114Initializing SD card...");
115  
116  if (!SD.begin(chipSelect)) {
117    Serial.println("initialization failed.  Things to check:");
118    Serial.println("* is a card is inserted?");
119    Serial.println("*  Is your wiring correct?");
120    Serial.println("* did you change the chipSelect  pin to match your shield or module?");} 
121  else {
122     Serial.println("card  initialized.");}
123     tmrpcm.play("s.wav");
124     Serial.print("f");}
125
126void  loop() {
127 //starting the voice recognizer shield to receive commands.
128 if(VoiceRecognition.isNewCommandReceived())
129  //making comparing between the sentence you saved and the commands Arduino will  receive from 1Shield.
130  {if(!strcmp(NameOne,VoiceRecognition.getLastCommand())||  !strcmp(NameTwo,VoiceRecognition.getLastCommand())|| !strcmp(NameThree,VoiceRecognition.getLastCommand())){
131      tmrpcm.play("Wall16.wav");}
132   
133    else if (!strcmp(EvaOne,VoiceRecognition.getLastCommand())||!strcmp(EvaTwo,VoiceRecognition.getLastCommand())||!strcmp(EvaThree,VoiceRecognition.getLastCommand()))
134      {tmrpcm.play("eva1.wav");}
135    
136    else if (!strcmp(SongCommand,VoiceRecognition.getLastCommand())){
137      tmrpcm.play("s.wav");}}
138
139//moving orders using gamepad.
140if(GamePad.isUpPressed())
141  {forward();}
142if(GamePad.isDownPressed())
143  {backward();}
144 if(GamePad.isLeftPressed())
145  {moveLeft();}
146if(GamePad.isRightPressed())
147  {moveRight();}
148if (GamePad.isRedPressed())
149  {Stop();}}
150
151
152

1/*This code for Wall-E's arm movment.
2   We used bluetooth module to  control it by the mobile application on phone.
3   Bluetooth module are connecting  with the arduino throw serial communication.
4   You can download any bluetooth  app from play store.
5   * Receives from the hardware serial(Bluetooth module),  sends to software serial(Arduino).
6   * Receives from software serial(Arduino),  sends to hardware serial(Bluetooth module).
7
8
9Created on 22/02/2017
10by  Makers team in pixels. 
11*/
12
13//include bluetooth library.
14#include<SoftwareSerial.h>
15
16//define  the Relays pin on Arduino.
17#define MOTORright_RELAY1 A1
18#define MOTORright_RELAY2  A2
19#define MOTORleft_RELAY1 A3
20#define MOTORleft_RELAY2 A4
21
22/* The circuit:
23  * RX is digital pin 3 (connect to TX of bluetooth module).
24 * TX is digital pin  5 (connect to RX of bluetooth module). */ 
25SoftwareSerial HC05(3,5);// RX, TX
26/*  Firstly you should get the numbers for each button you are going to use in your  mobile app, that TX is sending from bluetooth module to RX of Arduino.
27 *  You  can get the numbers from the SoftwareSerial example.
28 *  Then you need to save  it as int, therefore you need to define a int value.
29*/
30int x;
31
32
33//movement  function.
34/* For moving the arms up and down, we used two buttons for each arm  movement.
35  * For moving right arm up we used upright, and For moving right arm  down we used downright.
36  * For moving left arm up we used upleft, and For moving  left arm down we used downleft.
37*/
38
39//Stop moving.
40void Stop() {
41  digitalWrite(MOTORright_RELAY1, HIGH);
42 digitalWrite(MOTORright_RELAY2, HIGH);
43  digitalWrite(MOTORleft_RELAY1, HIGH);
44 digitalWrite(MOTORleft_RELAY2, HIGH);}
45
46//Move  rirht arm Up.
47void upright () {
48  digitalWrite(MOTORright_RELAY1, LOW);
49  digitalWrite(MOTORright_RELAY2, HIGH);}
50
51//Move rirht arm Down.
52void  downright() {
53  digitalWrite(MOTORright_RELAY1, HIGH);
54  digitalWrite(MOTORright_RELAY2,  LOW);}
55
56//Move left arm Up.
57void upleft () {
58  digitalWrite( MOTORleft_RELAY1,  LOW);
59  digitalWrite( MOTORleft_RELAY2, HIGH);}
60
61//Move left arm Down.
62void  downleft() {
63  digitalWrite( MOTORleft_RELAY1, HIGH);
64  digitalWrite( MOTORleft_RELAY2,  LOW);}
65  
66void setup() {
67  //begin he serial connection between the Arduino  and Bluetooth module.
68  Serial.begin(9600);
69  HC05.begin(9600);
70
71  //Define  the Relays pins as Output.
72  pinMode(A1, OUTPUT);
73  pinMode(A2, OUTPUT);
74  pinMode(A3, OUTPUT);
75  pinMode(A4, OUTPUT); 
76  //Define the Relays pins  as High in the beginning of the code.
77  digitalWrite(A1,HIGH);
78  digitalWrite(A2,HIGH);
79  digitalWrite(A3,HIGH);
80  digitalWrite(A4,HIGH);}
81  
82void loop() {
83  /*Start the loop code with if condition for start reading the incoming serial  from the Bluetooth module throw RX on Arduino.
84   * After that start checking  x values and regarding for the coming number.
85   */
86if (HC05.available()){
87   x = HC05.read();}
88    if (x == 73){    
89       Serial.println(x);
90       upleft();}
91    else if (x == 74){  
92       downleft ();
93       Serial.println(x);}
94    else if (x == 71){  
95        upright ();
96        Serial.println(x);}
97    else if (x == 72){  
98        downright();
99        Serial.println(x);}
100    else if ((x != 73)||(x != 74)||(x != 72)||(x != 71)){ 
101        Stop ();
102        Serial.println(x);}}
103
104