#include <SoftwareSerial.h>
#include <NewPing.h>  //for the Ultrasonic sensor function library.

//L298N motor control pins
#define RightEnable 5
#define Right1 A1
#define Right2 A0
#define LeftEnable 6
#define Left1 A2
#define Left2 A3

//Ultrasonic sensor control pins
#define trig_pin 8
#define echo_pin 9

//IR sensor control pins

#define LLeft 4
#define CLeft 2
#define CRight 3
#define RRight 10


int max_distance = 1000;
int cm = 0;
boolean skiptime = false;

NewPing sonar(trig_pin, echo_pin, max_distance);
SoftwareSerial Bluetooth(11, 12);

void setup() {
  Serial.begin(9600);
  Bluetooth.begin(9600);

  pinMode(RightEnable, OUTPUT);
  pinMode(Right1, OUTPUT);
  pinMode(Right2, OUTPUT);
  pinMode(LeftEnable, OUTPUT);
  pinMode(Left1, OUTPUT);
  pinMode(Left2, OUTPUT);


  pinMode(LLeft, INPUT);
  pinMode(CLeft, INPUT);
  pinMode(CRight, INPUT);
  pinMode(RRight, INPUT);

  digitalWrite(RightEnable, HIGH);
  digitalWrite(LeftEnable, HIGH);
}

void loop() {
  if (Bluetooth.available()) {
    int c = Bluetooth.read();
    Serial.write(Bluetooth.read());
    Serial.println(Bluetooth.read());
    Serial.println(c);
    {
      if (c = 1) {
        int LC = digitalRead(CLeft);
        int RC = digitalRead(CRight);
        int RR = digitalRead(RRight);
        int LL = digitalRead(LLeft);
        Serial.println(readPing());
        if (readPing() < 0) {
          MotorStop();

        } else if (RR == 1) {
          if (!skiptime) {
            Straight_();
            skiptime = true;
            Serial.print("Straight_1");
          } else if (LL == 1) {
            MotorStop();
            Turn();
            MotorStop_Start_Point();
          } else {
            MotorStop();
            Turn();
          }
        } else if (LC == 0 && RC == 1) {
          Left();
          Serial.println("Left1");
        } else if (LC == 1 && RC == 0) {
          Right();
          Serial.println("Right1");
        } else if (LC == 0 && RC == 0) {
          Straight();
          Serial.println("Straight1");
        }
      }




      else if (c = 2) {
        int LC = digitalRead(CLeft);
        int RC = digitalRead(CRight);
        int RR = digitalRead(RRight);
        int LL = digitalRead(LLeft);
        if (readPing() < 0) {
          MotorStop();
        } else if (RR == 1) {
          if (!skiptime) {
            Straight_();
            skiptime = true;
            Serial.println("Straight_2");
          } else if (LL == 1) {
            MotorStop();
            Turn();
            MotorStop_Start_Point();
          } else {
            MotorStop();
            Turn();
          }
        } else if (LC == 0 && RC == 1) {
          Left();
          Serial.println("Left2");
        } else if (LC == 1 && RC == 0) {
          Right();
          Serial.println("Right2");
        } else if (LC == 0 && RC == 0) {
          Straight();
          Serial.println("Straight2");
        }
      }
    }
  }
}


// if 처음
// loop

void MotorStop_Start_Point() {
  analogWrite(Right1, 0);
  analogWrite(Right2, 0);
  analogWrite(Left1, 0);
  analogWrite(Left2, 0);
  delay(10000);
}
void MotorStop() {
  analogWrite(Right1, 0);
  analogWrite(Right2, 0);
  analogWrite(Left1, 0);
  analogWrite(Left2, 0);
  delay(1000);
}

void Straight() {
  analogWrite(RightEnable, 90);
  analogWrite(LeftEnable, 95);
  analogWrite(Right1, 200);
  analogWrite(Right2, 0);
  analogWrite(Left1, 200);
  analogWrite(Left2, 0);
}

void Straight_() {
  analogWrite(RightEnable, 90);
  analogWrite(LeftEnable, 90);
  analogWrite(Right1, 200);
  analogWrite(Right2, 0);
  analogWrite(Left1, 200);
  analogWrite(Left2, 0);
  delay(300);
}

void Right() {
  analogWrite(RightEnable, 90);
  analogWrite(LeftEnable, 0);
  analogWrite(Right1, 200);
  analogWrite(Right2, 0);
  analogWrite(Left1, 200);
  analogWrite(Left2, 0);
}


void Left() {
  analogWrite(RightEnable, 0);
  analogWrite(LeftEnable, 90);
  analogWrite(Right1, 200);
  analogWrite(Right2, 0);
  analogWrite(Left1, 200);
  analogWrite(Left2, 0);
}

void TurnRight() {
  analogWrite(RightEnable, 100);
  analogWrite(LeftEnable, 100);
  analogWrite(Right1, 200);
  analogWrite(Right2, 0);
  analogWrite(Left1, 0);
  analogWrite(Left2, 0);
  delay(2350);
}
void Turn() {
  analogWrite(RightEnable, 120);
  analogWrite(LeftEnable, 100);
  analogWrite(Right1, 200);
  analogWrite(Right2, 0);
  analogWrite(Left1, 0);
  analogWrite(Left2, 200);
  delay(2500);
}

void TurnLeft() {
  analogWrite(RightEnable, 100);
  analogWrite(LeftEnable, 100);
  analogWrite(Right1, 0);
  analogWrite(Right2, 0);
  analogWrite(Left1, 200);
  analogWrite(Left2, 0);
  delay(2250);
}

int readPing() {
  delay(50);
  int cm = sonar.ping_cm();
  return cm;
  delay(50);
}


 
 안녕하세요, 앱인벤터를 통해 블루투스로 아두이노에 신호를 전송하면 라인트레이서가 1이란 신호를 인식하고 c=1의 마지막 명령어인 "Straight1" 만 인식합니다.
그리고 c=2 라는 값을 인식해도 2에 해당하는 명령을 실행하지않고 똑같이 "Straight1" 값만 출력됩니다. 1번을 반복적으로 눌리면 눌릴때마다 신호값이 다시 인식되어
누르는 당시의 상황 ("Left", "Right" ) 값을 출력해내긴합니다. 1이란 신호값을 한번만 받고도 c=1의 모든 명령을 수행하게하는 방법이 있을까요? 
그리고 시리얼모니터를 보면 1이나 2라는 신호를 주면 1-1 2-1 이런값으로 계속 입력이됩니다. 이것도 해결방법이 있을까요?
도움 주시면 감사하겠습니다.