通过蓝牙

Question

我一直试图用我的Android手机通过蓝牙使用HC-05蓝牙模块控制2WD机器人/车载套件。一切正常，直到我配对我的手机。我可以向BT模块发送命令，但我试图控制的电机不会移动。我正在使用以下代码：

//This program is used to control a robot using a app that communicates with Arduino through a bluetooth module.
//Error Code Chart: Code 01; Turnradius is higher than Speed; Code 02; Speed is higher than 255;
#include <HC05.h>
#define in1 5 //L298n Motor Driver pins.
#define in2 6
#define in3 10
#define in4 11
#define LED 13

int command; //Int to store app command state.
int Speed = 230; // 0 - 255.
int Speedsec;
int buttonState = 0;
int lastButtonState = 0;
int Turnradius = 0; //Set the radius of a turn, 0 - 255 Note: the robot will malfunction if this is higher than int Speed.
int brakeTime = 45;
int brkonoff = 1; //1 for the electronic braking system, 0 for normal.

void setup() {
  pinMode(in1, OUTPUT);
  pinMode(in2, OUTPUT);
  pinMode(in3, OUTPUT);
  pinMode(in4, OUTPUT);
  pinMode(LED, OUTPUT); //Set the LED pin.
  Serial.begin(38400);  //Set the baud rate to your Bluetooth module.
}

void loop() {
  if (Serial.available() > 0) {
    command = Serial.read();
    Stop(); //Initialize with motors stopped.
    switch (command) {
      case 'F':
        forward();
        break;
      case 'B':
        back();
        break;
      case 'L':
        left();
        break;
      case 'R':
        right();
        break;
      case 'G':
        forwardleft();
        break;
      case 'I':
        forwardright();
        break;
      case 'H':
        backleft();
        break;
      case 'J':
        backright();
        break;
      case '0':
        Speed = 100;
        break;
      case '1':
        Speed = 140;
        break;
      case '2':
        Speed = 153;
        break;
      case '3':
        Speed = 165;
        break;
      case '4':
        Speed = 178;
        break;
      case '5':
        Speed = 191;
        break;
      case '6':
        Speed = 204;
        break;
      case '7':
        Speed = 216;
        break;
      case '8':
        Speed = 229;
        break;
      case '9':
        Speed = 242;
        break;
      case 'q':
        Speed = 255;
        break;
    }
    Speedsec = Turnradius;
    if (brkonoff == 1) {
      brakeOn();
    } else {
      brakeOff();
    }
  }
}

void forward() {
  analogWrite(in1, Speed);
  analogWrite(in3, Speed);
}

void back() {
  analogWrite(in2, Speed);
  analogWrite(in4, Speed);
}

void left() {
  analogWrite(in3, Speed);
  analogWrite(in2, Speed);
}

void right() {
  analogWrite(in4, Speed);
  analogWrite(in1, Speed);
}
void forwardleft() {
  analogWrite(in1, Speedsec);
  analogWrite(in3, Speed);
}
void forwardright() {
  analogWrite(in1, Speed);
  analogWrite(in3, Speedsec);
}
void backright() {
  analogWrite(in2, Speed);
  analogWrite(in4, Speedsec);
}
void backleft() {
  analogWrite(in2, Speedsec);
  analogWrite(in4, Speed);
}

void Stop() {
  analogWrite(in1, 0);
  analogWrite(in2, 0);
  analogWrite(in3, 0);
  analogWrite(in4, 0);
}

void brakeOn() {
  //Here's the future use: an electronic braking system!
  // read the pushbutton input pin:
  buttonState = command;
  // compare the buttonState to its previous state
  if (buttonState != lastButtonState) {
    // if the state has changed, increment the counter
    if (buttonState == 'S') {
      if (lastButtonState != buttonState) {
        digitalWrite(in1, HIGH);
        digitalWrite(in2, HIGH);
        digitalWrite(in3, HIGH);
        digitalWrite(in4, HIGH);
        delay(brakeTime);
        Stop();
      }
    }
    // save the current state as the last state,
    //for next time through the loop
    lastButtonState = buttonState;
  }
}

void brakeOff() {
}

我打开了我的串行监视器，这就是发生的事情。串行监视器不会实时打印我在手机上按下的命令。当我将手机与蓝牙断开连接时，它会将它们全部打印在一行中，如this。我做了两次。 This是我到目前为止的接线图，如果有人想看的话。

我不能为我的生活弄清楚什么是错的。可能是我应该尝试其他手机吗？或者只是说电路板无法跟上蓝牙的通信？

编辑我还想指出我的蓝牙模块每2秒闪烁一次。这可能意味着我处于AT模式，无法进入Comms模式。