Arduino program to communicate with makeblockbluetooth.py

makeblock_bluetooth.ino

#include <MeOrion.h>
#include <Arduino.h>
#include <SoftwareSerial.h>
#include <Wire.h>
#include "MatrixGraphics.h"

MeBluetooth bluetooth(PORT_5);
MeDCMotor MotorL(M1);  
MeDCMotor MotorR(M2);
MeDCMotor Holder(PORT_1);
MeDCMotor Hand(PORT_2);
MeLEDMatrix ledMx(PORT_4);
MeInfraredReceiver infraredReceiverDecode(PORT_6);
MeUltrasonicSensor ultraSensor(PORT_7);
int distance=0;
int HolderSpeed = 250;
int HandSpeed = 250;
int moveSpeed = 190;
boolean leftflag,rightflag;
int minSpeed = 55;
int factor = 23;

void setup()
{
    infraredReceiverDecode.begin();
    ledMx.setBrightness(6);
    ledMx.setColorIndex(1);
    bluetooth.begin(115200);
    ledMx.drawBitmap(0, 0, sizeof(Bitmap_Logo), Bitmap_Logo);
    buzzerOn();
    delay(1000);
    buzzerOff();
}

void loop()
{        
 int inByte = bluetooth.read();
 if(inByte=='f')
  {
    TurnRight();
  }
 if(inByte=='s')
  {
    Stop();
  }
 if(inByte=='l')
  {
    Backward();
  }
 if(inByte=='b')
  {
    TurnLeft();
  }
 if(inByte=='r')
  {
    Forward();
  }
 if(inByte=='a')
  {
    Holder_down();
  }
 if(inByte=='c')
  {
    Holder_up();
  }
 if(inByte=='e')
  {
    Hand_close();
  }
 if(inByte=='d')
  {
    Hand_open();
  }
 if(inByte=='1')
  {
   ChangeSpeed(factor*1+minSpeed);
  }
 if(inByte=='2')
  {
   ChangeSpeed(factor*2+minSpeed);
  }
 if(inByte=='3')
  {
   ChangeSpeed(factor*3+minSpeed);
  }
 if(inByte=='4')
  {
   ChangeSpeed(factor*4+minSpeed);
  }
 if(inByte=='5')
  {
   ChangeSpeed(factor*5+minSpeed);
  }
 if(inByte=='6')
  {
   ChangeSpeed(factor*6+minSpeed);
  }
 if(inByte=='7')
  {
   ChangeSpeed(factor*7+minSpeed);
  }
 if(inByte=='8')
  {
   ChangeSpeed(factor*8+minSpeed);
  }
 if(inByte=='9')
  {
   ChangeSpeed(factor*9+minSpeed);
  }

}

void Forward()
{
  MotorL.run(moveSpeed);
  MotorR.run(moveSpeed);
}
void Backward()
{
  MotorL.run(-moveSpeed);
  MotorR.run(-moveSpeed);
}
void TurnLeft()
{
  MotorL.run(-moveSpeed);
  MotorR.run(moveSpeed);
}
void TurnRight()
{
  MotorL.run(moveSpeed);
  MotorR.run(-moveSpeed);
}
void Stop()
{
  MotorL.run(0);
  MotorR.run(0);
  Holder.run(0);
  Hand.run(0);
}
void ChangeSpeed(int spd)
{
  moveSpeed = spd;
}
void Holder_up()
{
  Holder.run(HolderSpeed);
}
void Holder_down()
{
  Holder.run(-HolderSpeed);
}
void Hand_close()
{
  Hand.run(HandSpeed);
}
void Hand_open()
{
  Hand.run(-HandSpeed);
}