#include <SoftwareSerial.h>

const byte rxPin = 2; 
const byte txPin = 3; 
const byte ENAPin = 11;
const byte IN1Pin = 10;
const byte IN2Pin = 9; 
const byte LM35Pin = A0;

SoftwareSerial mySerial(rxPin, txPin); 
unsigned long lastReading = 0;
boolean fw = true; 

void setup()
{
  mySerial.begin(9600);
  analogReference(INTERNAL);
  pinMode(IN1Pin, OUTPUT);
  pinMode(IN2Pin, OUTPUT);
  digitalWrite(IN1Pin, HIGH); 
  digitalWrite(IN2Pin, LOW);
  analogWrite(ENAPin, 0);
}

void loop()
{
  byte motorSpeed = 0;
  float temperature;
  byte command;

  if (millis() - lastReading >= 1000) 
  {
    
    lastReading = millis(); 
    
    temperature = (analogRead(LM35Pin) * 1.1 * 100 / 1024);
    mySerial.println(temperature);
  }
  if (mySerial.available() > 0) 
  { 
    command = mySerial.read();
    if (command == 1)
    {
      
      while(mySerial.available()==0); 
      motorSpeed = mySerial.read();
      analogWrite(ENAPin, motorSpeed); 
    }
    else if (command == 2)
    {
      reverse();
    }
  }
}

void reverse()
{
  if (fw)
  {
    digitalWrite(IN1Pin, LOW);
    digitalWrite(IN2Pin, HIGH);
  }
  else
  {
    digitalWrite(IN2Pin, LOW);
    digitalWrite(IN1Pin, HIGH);
  }
  fw = !fw;
}