Hello everyone, this is the first time i start a topic and before i continue i would like to thank you all for the help that, without knowing you already gave me in another projects.
Now, the thing is that im working on a bluetooth controlled Lawn Mower for a school project and i already have the chasis and everything else, and i am using a sabertooth 2x12 driver, an HC-06 bluetooth module and an Arduino uno, but i am a real noob, and i am struggling a lot with the code because it doesnt work, here it is the code that i am using
/**
- @file Bluetooth Controlled Robot Using Arduino and Android
- @author Calin Dragos for intorobotics.com
- @version V1.0
- @date 19.12.2016
-
@description This is an Arduino sketch to control a robot tank with the Bluetooth module HC-06 and Arduino UNO
*/
#include "SoftwareSerial.h"
SoftwareSerial mySerial(9, 10); // RX | TX
char command;
#include <SabertoothSimplified.h>
SabertoothSimplified ST; // We'll name the Sabertooth object ST.
void setup() {
Serial.begin(9600);
mySerial.begin(9600);
Serial.println("You're connected via Bluetooth");
}
void loop() {
if (mySerial.available())
{
command=(mySerial.read());
switch (command) {
case '1': // Robot Tank Forward
ST.motor(1, 127); // Go forward at full power
ST.motor(2, 255); // Go forward at full power
Serial.println("Robot Tank Forward");
break;
case '2': // Robot Tank Backward
ST.motor(1, 1); // Go forward at full power
ST.motor(2, 128); // Go forward at full power
Serial.println("Robot Tank Backward");
break;
case '3': // Robot Tank Left
ST.motor(1, 127); // Go forward at full power
ST.motor(2, 192); // Go forward at full power
Serial.println("Robot Tank Left");
break;
case '4': // Robot Tank Right
ST.motor(1, 64); // Go forward at full power
ST.motor(2, 255); // Go forward at full power
Serial.println("Robot Tank Right");
break;
default: //Stop The Robot Tank
ST.motor(1, 64); // Go forward at full power
ST.motor(2, 192); // Go forward at full power
Serial.println("Robot Tank Stop");
}
}
}
So, the sabertooth is set in simplified serial mode with DIP swithes 1,3,5 and 6 ON and the rest off. The goal is to control the lawnmower from an Android device, so if someone could please help me to correct or make any change to the code it would be very, very appreciated.
I already searched on google and even on this forum for something similar using sabertooth, and altought the examples did work i have a very limited comprehention on coding, just saying because in another similar post someone suggested to look for something similar on google and i already did and had no results 
Definitive_code...maybe.ino (1.52 KB)