Origami Arduino Bluetooth Vehicle

// This version uses call-backs on the event and RX so there's no data handling in the main loop!

#include <SPI.h>
#include "Adafruit_BLE_UART.h"


// Connect CLK/MISO/MOSI to hardware SPI
// e.g. On UNO & compatible: CLK = 13, MISO = 12, MOSI = 11
#define ADAFRUITBLE_REQ 8
#define ADAFRUITBLE_RDY 2 //interrupt pin. on Uno that's #2 or #3
#define ADAFRUITBLE_RST 7

Adafruit_BLE_UART uart = Adafruit_BLE_UART(ADAFRUITBLE_REQ, ADAFRUITBLE_RDY, ADAFRUITBLE_RST);

boolean messageReceived = false;
uint8_t message[20];

// initializing my components
int enA = 10; //LEFT motor enable pin
int in1 = 6;  //L input
int in2 = 5;  //L input
int in3 = 3;  //R input
int in4 = 4;  //R input

int enB = 9; //RIGHT motor enable pin

/**************************************************************************/
/*!
    This function is called whenever select ACI events happen
*/
/**************************************************************************/
void aciCallback(aci_evt_opcode_t event)
{
  switch(event)
  {
    case ACI_EVT_DEVICE_STARTED:
      Serial.println(F("Advertising started"));
      break;
    case ACI_EVT_CONNECTED:
      Serial.println(F("Connected!"));
      break;
    case ACI_EVT_DISCONNECTED:
      Serial.println(F("Disconnected or advertising timed out"));
      break;
    default:
      break;
  }
}

/**************************************************************************/
/*!
    This function is called whenever data arrives on the RX channel
*/
/**************************************************************************/
void rxCallback(uint8_t *buffer, uint8_t len)
{
  
  Serial.print(F("Received "));
  Serial.print(len);
  Serial.println(F(" bytes: "));

  // constantly check if these are happening
      switch(buffer[2]) {
      case 53:
        Serial.println ( "up");
        if(buffer[3] == 49){
          digitalWrite(in1, HIGH); //left
          digitalWrite(in2, LOW);
          digitalWrite(in3, HIGH); // sets motor to forward.
          digitalWrite(in4, LOW);
          analogWrite(enA, 200);
          analogWrite(enB, 255); // write enable pin to highest speed (0-255)
        }
        if(buffer[3] == 48) { //button released, turn all motors off
          digitalWrite(in1, LOW);
          digitalWrite(in2, LOW);
          digitalWrite(in3, LOW);
          digitalWrite(in4, LOW);
          analogWrite(enA, 0);
          analogWrite(enB, 0);
        }
        break; // will stop the code so that the following code in the loop does not run
      case 54:
        Serial.println ( "down");
        if(buffer[3] == 49){
          digitalWrite(in1, LOW);
          digitalWrite(in2, HIGH);
          digitalWrite(in3, LOW); // sets motor to backwards.
          digitalWrite(in4, HIGH);
          analogWrite(enA, 220);
          analogWrite(enB, 255); // write enable pin to highest speed (0-255)
        }

        if(buffer[3] == 48) { //button released, turn all motors off
          digitalWrite(in1, LOW);
          digitalWrite(in2, LOW);
          digitalWrite(in3, LOW);
          digitalWrite(in4, LOW);
          analogWrite(enA, 0);
          analogWrite(enB, 0);
        }
        break;
      case 55: 
        Serial.println ( "left");
        if(buffer[3] == 49){
          digitalWrite(in1, HIGH);
          digitalWrite(in2, LOW);
          digitalWrite(in3, LOW);
          digitalWrite(in4, HIGH);
          analogWrite(enA, 255);
          analogWrite(enB, 255); // write enable pin to highest speed (0-255)
         }
        
        if(buffer[3] == 48) { //button released, turn all motors off
          digitalWrite(in1, LOW);
          digitalWrite(in2, LOW);
          digitalWrite(in3, LOW);
          digitalWrite(in4, LOW);
          analogWrite(enA, 0);
          analogWrite(enB, 0);
        }
        break;
      case 56:
        Serial.println ( "right");
        if(buffer[3] == 49){        
          digitalWrite(in1, LOW);
          digitalWrite(in2, HIGH);
          digitalWrite(in3, HIGH);
          digitalWrite(in4, LOW);
          analogWrite(enA, 255);
          analogWrite(enB, 255); // write enable pin to highest speed (0-255)
         }
         
        if(buffer[3] == 48) { //button released, turn all motors off
          digitalWrite(in1, LOW);
          digitalWrite(in2, LOW);
          digitalWrite(in3, LOW);
          digitalWrite(in4, LOW);
          analogWrite(enA, 0);
          analogWrite(enB, 0);
        }
        break;
    }
     
  /* Echo the same data back! */
  uart.write(buffer, len);
}

/**************************************************************************/
/*!
    Configure the Arduino and start advertising with the radio
*/
/**************************************************************************/
void setup(void){
  Serial.begin(9600);
  while(!Serial); // Leonardo/Micro should wait for serial init
  Serial.println(F("Adafruit Bluefruit Low Energy nRF8001 Callback Echo demo"));

  uart.setRXcallback(rxCallback);
  uart.setACIcallback(aciCallback);
  uart.setDeviceName("MYCAR"); /* 7 characters max! */
  uart.begin();

// setup the pinmodes for the L298 Motor controller
  pinMode(enA, OUTPUT);
  pinMode(enB, OUTPUT); // all three pins are output pins
  pinMode(in1, OUTPUT);
  pinMode(in2, OUTPUT);
  pinMode(in3, OUTPUT);
  pinMode(in4, OUTPUT);
}

/**************************************************************************/
/*!
    Constantly checks for new events on the nRF8001
*/
/**************************************************************************/


void loop()
{
  uart.pollACI();
}