if (bstop = HIGH)
This is an assignment, not a comparison; it will always be true.
if (bismoving = true)//
I'd say if anything, the program is over-commented - this:
Set up Constants
Digital Pins 0-8 are outputs for relay drivers
Pin 0 = Out motor 1 out plus
Pin 1 = Out motor 1 out minus
Pin 2 = Out motor 2 in plus
Pin 3 = Out motor 2 in minus
could just as well be put in the declarations of the pins, whilst this:
digitalWrite(openmotoropenplus, LOW); // sets the digital pin as output
is simply stating the obvious incorrectly.
Generally, it is better to qualify things like pin numbers with "const".