New way to send and read commands to avoid lags. Only 2 speed level for every motor

Sketches/bluetooth_motor/bluetooth_motor.ino

@@ -15,40 +15,60 @@ const int offsetB = -1;
 
 SoftwareSerial BTSerial(3, 2); // RX | TX
 String reader;
-int d = 600;
 Motor motor1 = Motor(AIN1, AIN2, PWMA, offsetA, STBY);
 Motor motor2 = Motor(BIN1, BIN2, PWMB, offsetB, STBY);
 
 void setup()
 {
-  Serial.begin(9600);
+  //Serial.begin(9600);
-  Serial.println("Ready:");
+  //Serial.println("Ready:");
   BTSerial.begin(9600);  // HC-05 default speed in AT command more
   brake(motor1, motor2);
 }
 
 void loop()
 {
-  reader="";
+  char m1 = '9';
-  while (BTSerial.available()) {
+  char m2 = '9';
-    delay(3);
+  //Serial.println("There is "+String(BTSerial.available())+" available");
-    if (BTSerial.available()>0) {
+  if (BTSerial.available()==2) {
-      char c = BTSerial.read();
+      m1 = BTSerial.read();
-      reader += c;
+      m2 = BTSerial.read();
-        
+      //Serial.println("Receved: "+String(m1)+";"+String(m2));
+      switch (m1) {
+        case '0':
+          motor1.drive(-255);
+          break;
+        case '1':
+          motor1.drive(-170);
+          break;
+        case '2':
+          motor1.drive(0);
+          break;
+        case '3':
+          motor1.drive(170);
+          break;
+        case '4':
+          motor1.drive(255);
+          break;
       }
+      switch (m2) {
+        case '0':
+          motor2.drive(-255);
+          break;
+        case '1':
+          motor2.drive(-170);
+          break;
+        case '2':
+          motor2.drive(0);
+          break;
+        case '3':
+          motor2.drive(170);
+          break;
+        case '4':
+          motor2.drive(255);
+          break;
       }    
-  if (reader.length() > 0) {
-    Serial.println("Receved: "+reader+"");
-    d = reader.toInt();    
-  }
-
-  if (d <= 500) { //0 - full back, 255 - stop, 500 - full forward
-    int v1 = d - 255;
-    motor1.drive(v1);  
-  } else if (d >= 1000) { // 1000 - full back, 1255 - stop, 1500 - full forward
-    int v2 = d - 1255; 
-    motor2.drive(v2);  
   }
 
 }

app/src/main/java/yehor/vialov/vaporizr2/MainActivity.java

@@ -28,6 +28,8 @@ public class MainActivity extends AppCompatActivity {
     SeekBar motorB;
     TextView txtA;
     TextView txtB;
+    int motorACommand = 2;
+    int motorBCommand = 2;
 
     @Override
     protected void onCreate(Bundle savedInstanceState) {
@@ -37,11 +39,11 @@ public class MainActivity extends AppCompatActivity {
         btnConnect = (Button)findViewById(R.id.btnConnect);
 
         motorA = (SeekBar)findViewById(R.id.motorA);
-        motorA.setProgress(3);
+        motorA.setProgress(2);
-        motorA.setMax(6);
+        motorA.setMax(4);
         motorB = (SeekBar)findViewById(R.id.motorB);
-        motorB.setProgress(3);
+        motorB.setProgress(2);
-        motorB.setMax(6);
+        motorB.setMax(4);
 
         txtA = (TextView)findViewById(R.id.txtA);
         txtB = (TextView)findViewById(R.id.txtB);
@@ -52,14 +54,8 @@ public class MainActivity extends AppCompatActivity {
                     @Override
                     public void onProgressChanged(SeekBar seekBar,
                                                   int progresValue, boolean fromUser) {
-                        progress = Integer.toString(progresValue*85+1000);
+                        motorBCommand = progresValue;
-                        txtA.setText(progress);
+                        sendCommand();
-                        try {
-                            if (btOutStream != null)
-                                btOutStream.write(progress.getBytes());
-                        } catch (IOException e) {
-                            //e.printStackTrace();
-                        }
                     }
 
                     @Override
@@ -71,7 +67,7 @@ public class MainActivity extends AppCompatActivity {
 
                     @Override
                     public void onStopTrackingTouch(SeekBar seekBar) {
-                        seekBar.setProgress(3);
+                        seekBar.setProgress(2);
 
                     }
         });
@@ -82,14 +78,8 @@ public class MainActivity extends AppCompatActivity {
                     @Override
                     public void onProgressChanged(SeekBar seekBar,
                                                   int progresValue, boolean fromUser) {
-                        progress = Integer.toString(progresValue*85);
+                        motorACommand = progresValue;
-                        txtB.setText(progress);
+                        sendCommand();
-                        try {
-                            if (btOutStream != null)
-                                btOutStream.write(progress.getBytes());
-                        } catch (IOException e) {
-                            //e.printStackTrace();
-                        }
                     }
 
                     @Override
@@ -101,7 +91,7 @@ public class MainActivity extends AppCompatActivity {
 
                     @Override
                     public void onStopTrackingTouch(SeekBar seekBar) {
-                        seekBar.setProgress(3);
+                        seekBar.setProgress(2);
 
                     }
                 });
@@ -161,4 +151,17 @@ public class MainActivity extends AppCompatActivity {
             }
         });
     }
+
+    private void sendCommand() {
+        String m1 = Integer.toString(motorACommand);
+        String m2 = Integer.toString(motorBCommand);
+        txtA.setText(m1);
+        txtB.setText(m2);
+        try {
+            if (btOutStream != null)
+                btOutStream.write((m1+m2).getBytes());
+        } catch (IOException e) {
+            //e.printStackTrace();
+        }
+    }
 }