Combining two sketches together (joystick and Bluetooth)

Projects Programming
1

The project that I want to do is control dc motors using two methods: 1) using Hc-05 Bluetooth module and AMR Voice app. 2) using dual joystick.
the two works great separately, however when I combine both sketches only joystick can control the dc motors , the other method is not responding. I complied the code but no error is shown. I think there is something wrong in the code but I don't know where. Could you please help.
P.S: I use Arduino Nano

#include <SoftwareSerial.h>
//hc-05 bluetooth module
SoftwareSerial BT(5, 6); //RX, TX respetively
String voice;
//dc motors
int motor1pin1 = 12;
int motor1pin2 = 11;

int motor2pin1 = 10;
int motor2pin2 = 9;

//joystick
int Xpin = A0;
int Xvalue;

int Xvalue2;
void setup() {
  // put your setup code here, to run once:
  BT.begin(9600);
  Serial.begin(9600);
  pinMode(motor1pin1, OUTPUT);
  pinMode(motor1pin2, OUTPUT);
  pinMode(motor2pin1, OUTPUT);
  pinMode(motor2pin2, OUTPUT);

  //set joystick to be input
  pinMode(Xpin, INPUT);
}

void forward()
{
  digitalWrite(motor1pin1, HIGH);
  digitalWrite(motor1pin2, LOW);

  digitalWrite(motor2pin1, HIGH);
  digitalWrite(motor2pin2, LOW);
}

void backward()

{
  digitalWrite(motor1pin1, LOW);
  digitalWrite(motor1pin2, HIGH);

  digitalWrite(motor2pin1, LOW);
  digitalWrite(motor2pin2, HIGH);
}

void stopit()
{
  digitalWrite(motor1pin1, LOW);
  digitalWrite(motor1pin2, LOW);

  digitalWrite(motor2pin1, LOW);
  digitalWrite(motor2pin2, LOW);
}



void loop() {
  //use bluetooth module and AMR Voice app to control dc motors
  while (BT.available()) { //Check if there is an available byte to read
    delay(10); //Delay added to make thing stable
    char c = BT.read(); //Conduct a serial read
    if (c == '#') {
      break; //Exit the loop when the # is detected after the word
    }
    voice += c; //Shorthand for voice = voice + c
  }
  if (voice.length() > 0) {
    Serial.println(voice);

    if (voice == "*forward")
    {
      digitalWrite(motor1pin1, HIGH);
      digitalWrite(motor1pin2, LOW);

      digitalWrite(motor2pin1, HIGH);
      digitalWrite(motor2pin2, LOW);
    }

    else if (voice == "*backward")
    {
      digitalWrite(motor1pin1, LOW);
      digitalWrite(motor1pin2, HIGH);

      digitalWrite(motor2pin1, LOW);
      digitalWrite(motor2pin2, HIGH);
    }


    else if (voice == "*left")
    {
      digitalWrite(motor1pin1, LOW);
      digitalWrite(motor1pin2, HIGH);

      digitalWrite(motor2pin1, HIGH);
      digitalWrite(motor2pin2, LOW);

    }
    else if (voice == "*right")
    {
      digitalWrite(motor1pin1, HIGH);
      digitalWrite(motor1pin2, LOW);

      digitalWrite(motor2pin1, LOW);
      digitalWrite(motor2pin2, HIGH);

    }
    else if (voice == "*stop")
    {
      digitalWrite(motor1pin1, LOW);
      digitalWrite(motor1pin2, LOW);

      digitalWrite(motor2pin1, LOW);
      digitalWrite(motor2pin2, LOW);
    }
    voice = "";
  }
  //read the values of the joystick
  Xvalue = analogRead(Xpin);
  Xvalue2 = analogRead(Xpin);

  //controlling the motor using the joystick
  if (Xvalue > 800) { //forward
    forward();
  }


  else { //stop
    stopit();
  }

  if (Xvalue2 < 100) { //backward
    backward();
  }

}
2

Regardless of BT or VOICE, if the joystick doesn’t get triggered, it always say STOP, regardless of whatever was happening.

else { //stop stopit(); // kills whatever was started ! }

3

@lastchancename
I tried to remove it and everything works great. what should I replace there instead otherwise the motors will keep moving infinitely. Could you please help me I am beginner in this. I tried to replace it with this

if (Xvalue==0 && Xvalue2==0) { stopit() }
but still it keep moving infinitely once I trigger the joystick.

4

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