#pragma config(Sensor, S1,     accel,               sensorI2CCustom)
#pragma config(Sensor, S2,     Gyro,                sensorI2CHiTechnicGyro)
#pragma config(Sensor, S3,     sonar,               sensorSONAR)
#pragma config(Motor,  motorB,          motorB,        tmotorNormal, PIDControl, encoder)
#pragma config(Motor,  motorC,          motorC,        tmotorNormal, PIDControl, encoder)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

byte valueReceived[8]; // 8 bytes are being read

// NXT Remote Control java applet (www: demin.ws/nxt/bluetooth/) installed on mobile sends by BT:
// string FORWARD if 2 key is pressed; valueReceived[1]==79 states for "O"
// string BACKWARD if 8 key is pressed; valueReceived[1]==65 states for "A"
// string LEFT if 4 key is pressed; valueReceived[1]==69 states for "E"
// string RIGHT if 6 key is pressed; valueReceived[1]==73 states for "I"
// string STOP if 5 key is pressed; valueReceived[1]==84 states for "T"

task main()
{
while(true)
   {
   cCmdMessageRead(valueReceived, 8, 1);
   if ((valueReceived[1]==49) || (valueReceived[1]==79)) //Forward;79
      {
       motor[motorB]=20;
       motor[motorC]=20;
      }
   if ((valueReceived[1]==50) || (valueReceived[1]==65)) //Backward;65
      {
       motor[motorB]=-10;
       motor[motorC]=-10;
      }

   if ((valueReceived[1]==51) || (valueReceived[1]==69)) //Left;69
      {
       motor[motorB]=20;
       motor[motorC]=-20;
      }

   if ((valueReceived[1]==52) || (valueReceived[1]==73)) //Right;73
      {
       motor[motorB]=-20;
       motor[motorC]=20;
      }

   if ((valueReceived[1]==53) || (valueReceived[1]==84)) //Stop;84
      {
       motor[motorB]=0;
       motor[motorC]=0;
      }
   // nxtDisplayTextLine(2, valueReceived[1]);
   }
   wait1Msec(5);
}