使用Arduino的语音控制机器人

Question

我必须使用Android设备通过蓝牙模块来控制Arduino Uno。
该程序正在运行，但是我有一个问题。

如何使每个命令的代码重复多次？
例如，我想重复执行“ walk”命令，直到给出命令“ stop”？ 当我输入“行走”命令时，它将继续行走。

这是代码：

#include <Servo.h>
#include <SoftwareSerial.h>
SoftwareSerial blue(4, 3); //TX, RX  pins of arduino respetively

String command;
Servo myservo1;
Servo myservo2;
Servo myservo3;
Servo myservo4;

void setup()
{
    blue.begin(9600);
    Serial.begin(9600);
    Serial.println("Ready");

    myservo1.attach(9, 600, 2300); // (pin, min, max)
    myservo2.attach(10, 600, 2300);
    myservo3.attach(11, 600, 2300);
    myservo4.attach(12, 600, 2300);

    myservo1.write(30); //right leg            (0 point)
    myservo2.write(170); //lift leg             (0 point)
    myservo3.write(170); //left hand               (0)
    myservo4.write(30); //right hand             (0)
}
void loop()
{
    while (blue.available()) { //Check if there is an available byte to read
        delay(10); //Delay added to make thing stable
        char c = blue.read(); //Conduct a serial read
        command += c; //build the string.
    }
    if (command.length() > 0) {
        Serial.println(command);

        if (command == "walk") {
            myservo1.write(30);
            myservo2.write(160);
            myservo4.write(100);
            delay(1000);
            myservo4.write(30);
            delay(1000);
            myservo1.write(40);
            myservo2.write(170);
            myservo3.write(100);
            delay(1000);
            myservo3.write(170);
            delay(1000);
        }
        if (command == "raise your hands") {
            myservo4.write(180);
            myservo3.write(20);
        }
        if (command == "raise your left hand") {
            myservo3.write(20);
            delay(2000);
            myservo3.write(170);
            delay(1000);
        }
        if (command == "raise your right hand") {
            myservo4.write(180);
            delay(2000);
            myservo4.write(30);
            delay(1000);
        }
        if (command == "stop") {
            myservo1.write(30);
            myservo2.write(170);
            myservo3.write(170);
            myservo4.write(30);
        }

        command = "";
    }
}