Serial data input via bluetooth

Projects General Guidance
2

I made it!!

#include <AccelStepper.h>
#include <SoftwareSerial.h>// import the serial library
#include "math.h" 

SoftwareSerial Genotronex(10, 11); // RX, TX
int BluetoothData; // the data given from Computer

float Xm;
float Ym;
float W;
char junk = ' ';

AccelStepper stepper1(1, 3, 2);   //MOTOR 1
int MS11 = 4;
int MS21 = 5;
int SLP1 = 6;

AccelStepper stepper3(1, 8, 7);   // MOTOR 3
int MS13 = 9;
int MS23 = 12;
int SLP2 = 13;

AccelStepper stepper2(1, 23, 22); // MOTOR 2
int MS12 = 24;
int MS22 = 25;
int SLP3 = 26;

AccelStepper stepper4(1, 28, 27); // MOTOR 4
int MS14 = 29;
int MS24 = 30;
int SLP4 = 31;


//preračun hitrosti
float Pi= 3.1416;

int koraki = 200; //število korakov motorja za en obrat
float r = 0.029; //polmer kolesa
float l = 0.09; //širina
float d = 0.09; //dolžina

float obseg= 2*r*Pi;    // obseg kolesa

void setup()
{  
  Genotronex.begin(115200); // begin serial output @ 115200 baud

  Genotronex.println("For parameters input press: 1- Xm, 2- Ym and 3-W! ");
  Genotronex.println("");
  Genotronex.flush();

  pinMode(2, OUTPUT);       //MOTOR 1
  pinMode(3, OUTPUT);
  pinMode(4, OUTPUT);
  pinMode(5, OUTPUT);
  pinMode(6, OUTPUT);

  pinMode(7, OUTPUT);       // MOTOR 3
  pinMode(8, OUTPUT);
  pinMode(9, OUTPUT);
  pinMode(12, OUTPUT);
  pinMode(13, OUTPUT);

  pinMode(22, OUTPUT);      // MOTOR 2
  pinMode(23, OUTPUT);
  pinMode(24, OUTPUT);
  pinMode(25, OUTPUT);
  pinMode(26, OUTPUT);

  pinMode(27, OUTPUT);      // MOTOR 4
  pinMode(28, OUTPUT);
  pinMode(29, OUTPUT);
  pinMode(30, OUTPUT);
  pinMode(31, OUTPUT);

  digitalWrite(MS11, LOW);   // MOTOR 1            MS1    MS2    (hitrost korakanja motorjev)
  digitalWrite(MS21, LOW);                  //     LOW    LOW    POLNOKORAČNO
  digitalWrite(MS12, LOW);   // MOTOR 2            HIGH   LOW    POLKORAČNO
  digitalWrite(MS22, LOW);                  //     LOW    HIGH   ČETRKORAČNO
  digitalWrite(MS13, LOW);   // MOTOR 3            HIGH   HIGH   OSMINSKOKORAČNO
  digitalWrite(MS23, LOW); 
  digitalWrite(MS14, LOW);   // MOTOR 4
  digitalWrite(MS24, LOW);

  int MAX= 700;                  // MAX HITROST (steps/s)
  stepper1.setMaxSpeed(MAX);
  stepper2.setMaxSpeed(MAX);
  stepper3.setMaxSpeed(MAX);
  stepper4.setMaxSpeed(MAX);

  int pospesek= 50;
  stepper1.setAcceleration(pospesek);
  stepper2.setAcceleration(pospesek);
  stepper4.setAcceleration(pospesek);
  stepper4.setAcceleration(pospesek);
}

void loop()
{

  Genotronex.println("For parameters input press: Xm, Ym and W! ");
  Genotronex.println("Enter parameter value 'Xm', Press ENTER");
  while (Genotronex.available() == 0) ;
  {
    Xm = Genotronex.parseFloat(); 
    Genotronex.print("Xm = "); 
    Genotronex.println(Xm, DEC);
    while (Genotronex.available() > 0)  // .parseFloat() can leave non-numeric characters
    { 
      junk = Genotronex.read() ;  // clear the keyboard buffer
    }      
  }


  Genotronex.println("Enter parameter value 'Ym', Press ENTER");
  while (Genotronex.available() == 0) ;
  {
    Ym = Genotronex.parseFloat(); 
    Genotronex.print("Ym = "); 
    Genotronex.println(Ym, DEC);
    while (Genotronex.available() > 0)  // .parseFloat() can leave non-numeric characters
    { 
      junk = Genotronex.read() ; // clear the keyboard buffer
    }
  }


  Genotronex.println("Enter parameter value 'W', Press ENTER");
  while (Genotronex.available() == 0) ;
  {
    W = Genotronex.parseFloat(); 
    Genotronex.print("W = "); 
    Genotronex.println(W, DEC);
    while (Genotronex.available() > 0)  // .parseFloat() can leave non-numeric characters
    { 
      junk = Genotronex.read() ; // clear the keyboard buffer
    }      
    float v1= -0.7071*Xm + 0.7071*Ym + 0.1273*W; 
    float v2= -0.7071*Xm -0.7071*Ym + 0.1273*W;
    float v3= 0.7071*Xm -0.7071*Ym + 0.1273*W;
    float v4= 0.7071*Xm + 0.7071*Ym + 0.1273*W;

    float obrati1 = v1 / obseg; //obrati prvega kolesa
    float obrati2 = v2 / obseg; //obrati drugega kolesa
    float obrati3 = v3 / obseg; //obrati tretjega kolesa
    float obrati4 = v4 / obseg; //obrati četrtega kolesa  

    float stobrt1 = obrati1;  //pretvorba float-->int
    float stobrt2 = obrati2;
    float stobrt3 = obrati3;
    float stobrt4 = obrati4;

    Genotronex.print("Obrati 1. kolesa = ");
    Genotronex.println(obrati1, DEC); 
    Genotronex.println("\n");
    Genotronex.println();

    Genotronex.print("Obrati 2. kolesa = ");
    Genotronex.println(obrati2, DEC); 
    Genotronex.println("\n");
    Genotronex.println();

    Genotronex.print("Obrati 3. kolesa = ");
    Genotronex.println(obrati3, DEC); 
    Genotronex.println("\n");
    Genotronex.println();

    Genotronex.print("Obrati 4. kolesa = ");
    Genotronex.println(obrati4, DEC); 
    Genotronex.println("\n");
    Genotronex.println();

    float SetMotorSpeed1 = stobrt1*koraki;  // *200korakov na obrat/60sekund =korakov na sekundo
    float SetMotorSpeed2 = stobrt2*koraki;
    float SetMotorSpeed3 = stobrt3*koraki;
    float SetMotorSpeed4 = stobrt4*koraki;

    stepper1.setSpeed(SetMotorSpeed3);    // hitrost posameznega kolesa
    stepper2.setSpeed(SetMotorSpeed2);
    stepper3.setSpeed(SetMotorSpeed1);
    stepper4.setSpeed(SetMotorSpeed4);

    stepper1.setSpeed(SetMotorSpeed1);    // hitrost posameznega kolesa
    stepper2.setSpeed(SetMotorSpeed2);
    stepper3.setSpeed(SetMotorSpeed3);
    stepper4.setSpeed(SetMotorSpeed4);
    stepper1.runSpeed();
    stepper2.runSpeed();
    stepper3.runSpeed();
    stepper4.runSpeed();


    if( Xm && Ym && W ==0.0)
    {
      digitalWrite(SLP1, LOW);
      digitalWrite(SLP2, LOW);
      digitalWrite(SLP3, LOW);
      digitalWrite(SLP4, LOW);
    }

    if( Xm || Ym || W !=0.0)
    {
      digitalWrite(SLP1, HIGH);
      digitalWrite(SLP2, HIGH);
      digitalWrite(SLP3, HIGH);
      digitalWrite(SLP4, HIGH);
    }

  }
}

Now I just have one problem!

How to make this parameters to stay in buffer untill I rewrite parameters? Because I regulate speed of motors with this numbers.

Thanks!