Arduino+Adafruit Motor Shield+Blynk

Hi,

I’m working on a robot project. I want to control 2 DC Motors with joystick and 2 Stepper motors with individual buttons. I want to connect with USB for now. I searched a lot and tried to build a code. My motors worked but they are not controllable. It just executes the loop. I’m an architect who is new to arduino so I couldn’t find a solution by myself yet.

Here is the reference project that I used:

Boards, Shields and Motors which I used:
Arduino Uno
2 Adafruit Motor Shields v2
2 DC Motors (3V 13800rpm)
2 Stepper Motors (12VDC 32-Step 1/16 Gearing)

Code:

'#include <Adafruit_MotorShield.h>
#include "utility/Adafruit_MS_PWMServoDriver.h"'

    Adafruit_MotorShield ShieldTop(0x61);
    Adafruit_MotorShield ShieldBot(0x60);

    Adafruit_StepperMotor *stepper1 = ShieldBot.getStepper(513, 1);
    Adafruit_StepperMotor *stepper2 = ShieldBot.getStepper(513, 2);
    Adafruit_DCMotor *DC1 = ShieldTop.getMotor(3);
    Adafruit_DCMotor *DC2 = ShieldTop.getMotor(4);

    #include <SoftwareSerial.h>
    SoftwareSerial SwSerial(2, 3); // RX, TX
    #define BLYNK_PRINT SwSerial
    #include <BlynkSimpleSerial.h>

    char auth[] = "AuthtokenHere";


    void setup() {
      
    Serial.begin(9600);
    Blynk.begin(auth);

    }

    void loop() {

    Blynk.run();

      if(analogRead(V0)==1024) {
      DC1->setSpeed(150);
      DC1->run(FORWARD);
      }
      if(analogRead(V0)==0) {
      DC1->setSpeed(150);
      DC1->run(BACKWARD);
      }
      if(analogRead(V1)==1024) {
      DC2->setSpeed(150);
      DC2->run(FORWARD);
      }
      if(analogRead(V1)==0) {
      DC2->setSpeed(150);
      DC2->run(BACKWARD);
      }
      if(analogRead(V2)==HIGH) {
      stepper1->setSpeed(15);
      stepper1->step(171, FORWARD, DOUBLE);
      }
      if(analogRead(V3)==HIGH) {
      stepper2->setSpeed(15);
      stepper2->step(171, FORWARD, DOUBLE);
      }

    }