#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(Right1,200); analogWrite(Right2,0);
  analogWrite(LeftEnable,95);  analogWrite(Left1,200);  analogWrite(Left2,0);
}
//
void Straight_(){
  analogWrite(RightEnable,90); analogWrite(Right1,200); analogWrite(Right2,0);
  analogWrite(LeftEnable,90);  analogWrite(Left1,200);  analogWrite(Left2,0);
  delay(300);
}
//
void Right(){
  analogWrite(RightEnable,90); analogWrite(Right1,200); analogWrite(Right2,0);
  analogWrite(LeftEnable,0);   analogWrite(Left1,200);  analogWrite(Left2,0);
}
//
void Left(){
  analogWrite(RightEnable,0); analogWrite(Right1,200); analogWrite(Right2,0);
  analogWrite(LeftEnable,90); analogWrite(Left1,200);  analogWrite(Left2,0);
}
//
void TurnRight(){
  analogWrite(RightEnable,100); analogWrite(Right1,200); analogWrite(Right2,0);
  analogWrite(LeftEnable,100);  analogWrite(Left1,0);    analogWrite(Left2,0);
  delay(2350);
}
//
void Turn(){
  analogWrite(RightEnable,120); analogWrite(Right1,200); analogWrite(Right2,0);
  analogWrite(LeftEnable,100);  analogWrite(Left1,0);    analogWrite(Left2,200);
  delay(2500);
}
//
void TurnLeft(){
  analogWrite(RightEnable,100); analogWrite(Right1,0);  analogWrite(Right2,0);
  analogWrite(LeftEnable,100);  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.
//
    if(c=1){
    else if(c=2){
비교문은 아래처럼 사용해야 합니다.
    if(c==1){
    else if(c==2){
//
    if(c=1){
이렇게 사용하면 c를 1로 치환(대입)하기 때문에 어떤 문자를 수신해도 c=1이 되어버립니다.
또, c가 0이 아니므로 if문도 실행 됩니다.