Control de un tanque via bluetooth mediante arduino con n dispositivo android.

El programa android es el siguiente:
https://play.google.com/store/apps/details?id=braulio.calle.bluetoothRCcontroller

comandos utilizados:

Forward -> F
Back -> B
Left -> L
Right -> R
Forward Left -> G
Forward Right ->I
Back Left -> H
Back Right -> J
Stop -> S
Front Lights On -> W (upper case)
Front Lights Off -> w (lower case)
Back Lights On -> U (upper case)
Back Lights Off -> u (lower case)
Speed 0 -> 0 (Zero)
Speed 10 -> 1
Speed 20 -> 2
Speed 30 -> 3
Speed 40 -> 4
Speed 50 -> 5
Speed 60 -> 6
Speed 70 -> 7
Speed 80 -> 8
Speed 90 -> 9
Speed 100 -> q

La comunicación se realiza mediante la librería SoftSerial.