Romeo BLE DFR0305 issue

I have everything set up and all that happens is the wheels spin and spin and spin on my RC car. If I upload the code they will stop for 2 seconds then start right back up. I've tried several RC Bluno Apps for Android and even though they say "connected" commands have no effect. Complete newbie here so all help is REALLY appreciated!! Here is the info:

IDE: Arduino 1.8.10
Libraries: DFMobile, GoBle and Metro

Code:

#include <Servo.h>
#include <Metro.h>
#include "GoBLE.h"
#include <Wire.h>

#define CAR_TYPE 1//1:car type cherokry

#define speedPin_M1 5//M1 speed control
#define speedPin_M2 6//M2 speed control
#define directionPin_M1 4//M1 direction control
#define directionPin_M2 7//M2 direction control
#define URPWM 3 //ultrosonic module(0-25000US,50US is 1cm)
#define URTRIG 10 //ultrosonic trig pin
#define SERVO_PIN 9

Metro measureDistance = Metro(50);//build metro object, the interval is 50ms
Metro sweepServo = Metro(20);//build metro object, the interval is 20ms

unsigned long actualDistance = 0;

Servo myservo;//build the servo
int pos = 90;
int sweepFlag = 1;

//Define global variables, save the bluetooth data
int joystickX, joystickY;
int buttonState[6];
bool mode = 1; //mode=0:avoid obstacle, mode=1:control by bluetooth

void setup() {
pinMode(speedPin_M1, OUTPUT);
pinMode(speedPin_M2, OUTPUT);
pinMode(directionPin_M1, OUTPUT);
pinMode(directionPin_M2, OUTPUT);

digitalWrite(speedPin_M2, 0);
digitalWrite(directionPin_M2, LOW);
digitalWrite(speedPin_M1, 0);
digitalWrite(directionPin_M1, LOW);

pinMode(URTRIG, OUTPUT);
digitalWrite(URTRIG, HIGH);
pinMode(URPWM, INPUT);

Goble.begin();
myservo.attach(SERVO_PIN);
myservo.write(pos);
Serial.begin(115200);
delay(1000);
Serial.println("setup");
}

void loop() {
receive_BLE();
if (mode == 1) {
BLEMode();//Bluetooth mode
} else {
avoidanceMode();//avoid obstacle mode
}
}
//control motor 1
void motorM1Control(int speed) {
if (speed == 0) {
analogWrite(speedPin_M1, 0); //speed = 0, stop
}
if (CAR_TYPE == 1) {
if (speed > 0) {
digitalWrite(directionPin_M1, HIGH); //direction pin set low, move forward
analogWrite(speedPin_M1, speed);
} else if (speed < 0) {
digitalWrite(directionPin_M1, LOW); //direction pin set high, move backward
analogWrite(speedPin_M1, -speed);
}
} else if (CAR_TYPE == 2 || CAR_TYPE == 3) {
if (speed > 0) {
digitalWrite(directionPin_M1, LOW); //direction pin set low, move forward
analogWrite(speedPin_M1, speed);
}
else if (speed < 0) { //??
digitalWrite(directionPin_M1, HIGH); //direction pin set high, move backward
analogWrite(speedPin_M1, -speed);
}
}
}
//??M2??
void motorM2Control(int speed) {
if (speed == 0) {
analogWrite(speedPin_M2, 0); //speed = 0, stop
}
if (CAR_TYPE == 1) {
if (speed > 0) {
digitalWrite(directionPin_M2, LOW); //direction pin set low, move forward
analogWrite(speedPin_M2, speed);
}
else if (speed < 0) {
digitalWrite(directionPin_M2, HIGH); //direction pin set high, move backward
analogWrite(speedPin_M2, -speed);
}
} else if (CAR_TYPE == 2 || CAR_TYPE == 3) {
if (speed > 0) {
digitalWrite(directionPin_M2, LOW); //direction pin set low, move forward
analogWrite(speedPin_M2, speed);
}
else if (speed < 0) {
digitalWrite(directionPin_M2, HIGH); //direction pin set high, move backward
analogWrite(speedPin_M2, -speed);
}
}
}
//motor control
void motorControl(int speedRight, int speedLeft ) {
motorM1Control(speedRight);
motorM2Control(speedLeft);
}

int MeasureDistance() {
digitalWrite(URTRIG, LOW);//URTRIG set low
digitalWrite(URTRIG, HIGH);//PWM mode trig
unsigned long distance = pulseIn(URPWM, LOW); //read PWM
if (distance >= 30000) {
Serial.println("Invalid");//read invalid
} else {
distance = distance / 50; //50us means 1cm
}
if (distance > 4) {
return distance;//filter distance less than 4
}
}
//servo control
void servoSweep() {
if (sweepFlag) {
if (pos >= 60 && pos <= 120) {
pos = pos + 10;
myservo.write(pos);
}
if (pos > 119) sweepFlag = false;
}
else {
if (pos >= 60 && pos <= 120) {
pos = pos - 10;
myservo.write(pos);
}
if (pos < 61) sweepFlag = true;
}
}
//receive bluetooth data
void receive_BLE()
{
if (Goble.available()) {
joystickX = Goble.readJoystickX();
joystickY = Goble.readJoystickY();
buttonState[0] = Goble.readSwitchUp();//up 1
buttonState[1] = Goble.readSwitchDown();//down 3
buttonState[2] = Goble.readSwitchLeft();//left 4
buttonState[3] = Goble.readSwitchRight();//rght 2
buttonState[4] = Goble.readSwitchSelect();//select 5
buttonState[5] = Goble.readSwitchStart();//start 6
if (buttonState[4] == PRESSED) {
mode = 1;// if SWITCH_SELECT pressed,mode=1,switch to bluetooth mode
}
if (buttonState[5] == PRESSED) {
mode = 0;//if SWITCH_START pressed,mode=0,switch to avoid obstacle mode
}
}
}

void BLE_Delay(int Time)
{
for (int i = Time; i > 0; i--) {
delay(1);//delay and receive bluetooth data, when received, stop delay
if (Goble.available()) {
joystickX = Goble.readJoystickX();
joystickY = Goble.readJoystickY();
buttonState[0] = Goble.readSwitchUp();
buttonState[1] = Goble.readSwitchDown();
buttonState[2] = Goble.readSwitchLeft();
buttonState[3] = Goble.readSwitchRight();
buttonState[4] = Goble.readSwitchSelect();
buttonState[5] = Goble.readSwitchStart();
if (buttonState[4] == PRESSED) {
mode = 1;//if SWITCH_SELECT pressed,mode=1,switch to bluetooth mode
break;
}
}
}
}
//avoid obstacle mode
void avoidanceMode() {
if (measureDistance.check() == 1) {
actualDistance = MeasureDistance();//measure distance
Serial.println(actualDistance);
}
if (sweepServo.check() == 1) {
servoSweep();//servo control
}
if (actualDistance <= 30) {
myservo.write(90);
if (pos >= 90) {
motorControl(0, 0);
BLE_Delay(500);
motorControl(-200, -200); //move back
BLE_Delay(500);
motorControl(-200, 200); //turn right
BLE_Delay(500);
} else {
motorControl(0, 0);
BLE_Delay(500);
motorControl(-200, -200); //move back
BLE_Delay(500);
motorControl(200, -200); //turn left
BLE_Delay(500);
}
} else {
motorControl(150, 150); //move forward
BLE_Delay(300);
}
}
//bluetooth mode
void BLEMode() {
if (buttonState[0] == PRESSED) {
motorControl(150, 150); //move forward
}
else if (buttonState[1] == PRESSED) {
motorControl(-150, -150); //move back
}
else if (buttonState[2] == PRESSED) {
motorControl(200, -200); //turn left
}
else if (buttonState[3] == PRESSED) {
motorControl(-200, 200); //turn right
}
else {
motorControl(0, 0); //stop
}
}