android - Fixing delay of sending commands to arduino through HC-06 -


me , friends working on small project on arduino. trying make remote controlled car using arduino , bluetooth module. going smooth except one. when send signal arduino make car move in specific direction making late. near 8 10 seconds. there anyway fix it? have checked delay using serial port display. command received in great delay.code given below. using arduino uno, bluetooth module hc-06, arduino ide version 1.6.7.we using android app send command mobile.

#define trigpin 7 #define echopin 6 #define yellowled 10 #define greenled 9  int motor_left[] = {2, 3}; int motor_right[] = {4, 5}; int vspeed=255; long previousmillis = -1000*10; char state = 's';  void setup() {   // put setup code here, run once:   serial.begin (9600);   pinmode(trigpin, output);   pinmode(echopin, input);    pinmode(greenled, output);   pinmode(yellowled, output);    for(int = 0; < 2; i++){     pinmode(motor_left[i], output);     pinmode(motor_right[i], output);   } }  void loop() {   // put main code here, run repeatedly:   long duration, inches, cm;   if(serial.available() > 0){              state = serial.read();   }    // ping))) triggered high pulse of 2 or more microseconds.   // give short low pulse beforehand ensure clean high pulse:   digitalwrite (trigpin, low);   delaymicroseconds (2);   digitalwrite (trigpin, high);   delaymicroseconds (10);   digitalwrite (trigpin, low);    duration = pulsein (echopin, high);    inches = microsecondstoinches (duration);   cm = microsecondstocentimeters (duration);    if (cm <= 10 || state == 's') {     motor_stop ();   } else {     motor_ready ();   }    delay(100); }  void motor_stop(){   serial.print (state);   serial.println();   digitalwrite(motor_left[0], low);    digitalwrite(motor_left[1], low);     digitalwrite(motor_right[0], low);   digitalwrite(motor_right[1], low);    digitalwrite (yellowled, high);   digitalwrite (greenled, low);   delay(25); }  void motor_ready () {     serial.print (state);     serial.println();      if (state == '0') {         vspeed = 0;     } else if (state == '1') {         vspeed = 75;     } else if (state == '2') {         vspeed = 150;     } else if (state == '3') {         vspeed = 200;     } else if (state == '4') {         vspeed = 255;     }      if (state == 'f') {         driveforward ();      } else if (state == 'g') {         driveforwardleft ();      } else if (state == 'i') {         driveforwardright ();      } else if (state == 'b') {         drivebackward ();      } else if (state == 'h') {         drivebackwardleft ();      } else if (state == 'j') {         drivebackwardright ();      }      digitalwrite (yellowled, low);     digitalwrite (greenled, high); }  void driveforward () {     analogwrite(motor_left [0], vspeed); analogwrite(motor_left [1], 0);     analogwrite(motor_right [0], vspeed);      analogwrite(motor_right [1], 0); }  void driveforwardleft () {     analogwrite(motor_left [0], 0); analogwrite(motor_left [1], 0);     analogwrite(motor_right [0], vspeed);      analogwrite(motor_right [1], 0); }  void driveforwardright () {     analogwrite(motor_left [0], vspeed); analogwrite(motor_left [1], 0);     analogwrite(motor_right [0], 0);      analogwrite(motor_right [1], 0); }  void drivebackward () {     analogwrite(motor_left [0], 0); analogwrite(motor_left [1], vspeed);     analogwrite(motor_right [0], 0);      analogwrite(motor_right [1], vspeed); }  void drivebackwardleft () {     analogwrite(motor_left [0], 0); analogwrite(motor_left [1], 0);     analogwrite(motor_right [0], 0);      analogwrite(motor_right [1], vspeed); }  void drivebackwardright () {     analogwrite(motor_left [0], 0); analogwrite(motor_left [1], vspeed);     analogwrite(motor_right [0], 0);      analogwrite(motor_right [1], 0); }  long microsecondstoinches(long microseconds) {   return microseconds / 74 / 2; }  long microsecondstocentimeters(long microseconds) {   return microseconds / 29 / 2; }


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