#include <LiquidCrystal.h>
#include <AFMotor.h>


LiquidCrystal lcd(18, 13, 14, 15, 16, 17); //pins D4=A0,D5=A1,D6=A2,D7=A3, R=A4 E=13 (pins used for lcd)

int command = 0;  //incoming serial data


AF_DCMotor motor1(1, MOTOR12_64KHZ); //initialize motor1 that is connected to the M1 port
AF_DCMotor motor2(2, MOTOR12_64KHZ); //motor2 is connected to M2 


void setup() {
  lcd.begin(16, 2);
  Serial.begin(9600); // set up Serial library at 9600 bps - this is the speed the serial interface will work all
  motor1.setSpeed(255); //set default speed
  motor2.setSpeed(255); //set default speed
  pinMode(2, OUTPUT); //connect a led here
}

void loop() {
  lcd.setCursor(0,0);
 
  if (Serial.available() > 0) { //if the Arduino detects incoming data
    // read the incoming byte:
    command = Serial.read();
    lcd.print("CONNECTED!");

    lcd.setCursor(0,1);
  }
  switch (command) //set different cases of the "command" variable
  {
    case 'S': {
        lcd.print("Stop");
        motor1.run(RELEASE); // stopped
        motor2.run(RELEASE); // stopped
        command = '*';
      } break;

    case 'F': { //go forward
       lcd.print("MOVING FORWARD");
        motor2.run(FORWARD);
        motor1.run(FORWARD);
      } break;

    case 'B': { //go backward
       lcd.print("MOVING BACKWARD"); 
        motor2.run(BACKWARD);
        motor1.run(BACKWARD);
      } break;

    case 'R': { //spin right
      lcd.print("MOVING RIGHT");
        motor2.run(RELEASE);
        motor1.run(FORWARD);
      } break;

    case 'L': { //spin left
      lcd.print("MOVING LEFT");
        motor2.run(FORWARD);
        motor1.run(RELEASE);
      } break;

    case 'G': { //forward left
      lcd.print("Forward left");
        motor2.run(FORWARD);
        motor1.run(BACKWARD);
    } break;

  case 'I': { //forward right
        lcd.print("forward right");
        motor2.run(FORWARD);
        motor1.run(FORWARD);
      } break;

   case 'H': { //backward left
        lcd.print("backward left");
        motor2.run(FORWARD);
        motor1.run(BACKWARD);
     } break;

    case 'J': { //backward right
      lcd.print("backward right");
        motor2.run(BACKWARD);
        motor1.run(FORWARD);
     } break;

    case 'W': {
        lcd.print("Lights ON"); 
        digitalWrite(2, HIGH); //lights on
      } break;

    case 'w': {
        lcd.print("Lights OFF"); 
        digitalWrite(2, LOW); //lights off
      } break;

    case 'U': {
        motor1.setSpeed(128); //set lower speed
      } break;

    case 'u': {
        motor1.setSpeed(255); //set max speed
      } break;

   
  }
}