WIFI Controlled Robot (CAR)

// Modified by ProfessorHulk //
// WIFI Controlled Robot //
// Have a Query about it, you can reach us here (Insta ID : the_one_and_only_smasher_tech) //



#define LEFT_LED D1       // Led in NodeMCU at pin            GPIO5  (D1)
#define RIGHT_LED D2      // Led in NodeMCU at pin            GPIO16 (D2)
#define ENA   14          // Enable/speed motors Right        GPIO14 (D5)
#define ENB   12          // Enable/speed motors Left         GPIO12 (D6)
#define IN_1  15          // L298N in1 motors Right           GPIO15 (D8)
#define IN_2  13          // L298N in2 motors Right           GPIO13 (D7)
#define IN_3  2           // L298N in3 motors Left            GPIO2  (D4)
#define IN_4  0           // L298N in4 motors Left            GPIO0  (D3)

#include <ESP8266WiFi.h>
#include <WiFiClient.h> 
#include <ESP8266WebServer.h>

String command;             //String to store app command state.
int speedCar = 800;         // 400 - 1023.
int speed_Coeff = 3;

const char* ssid = "PROFESSORHULK CAR";
ESP8266WebServer server(80);

void setup() {
 
 pinMode(ENA, OUTPUT);
 pinMode(ENB, OUTPUT);  
 pinMode(IN_1, OUTPUT);
 pinMode(IN_2, OUTPUT);
 pinMode(IN_3, OUTPUT);
 pinMode(IN_4, OUTPUT);
 pinMode(LEFT_LED, OUTPUT);    // LED pin as output. 
 pinMode(RIGHT_LED, OUTPUT);
  
  Serial.begin(115200);
 
// Connecting WiFi

  WiFi.mode(WIFI_AP);
  WiFi.softAP(ssid);
  IPAddress myIP = WiFi.softAPIP();
  Serial.print("AP IP address: ");
  Serial.println(myIP);
 
 // Starting WEB-server 
     server.on ( "/", HTTP_handleRoot );
     server.onNotFound ( HTTP_handleRoot );
     server.begin();    
}

void goAhead(){ 

      digitalWrite(IN_1, LOW);
      digitalWrite(IN_2, HIGH);
      digitalWrite(LEFT_LED, HIGH);
      digitalWrite(RIGHT_LED, HIGH);
      analogWrite(ENA, speedCar);
      
      

      digitalWrite(IN_3, LOW);
      digitalWrite(IN_4, HIGH);
      analogWrite(ENB, speedCar);
  }

void goBack(){ 

      digitalWrite(IN_1, HIGH);
      digitalWrite(IN_2, LOW);
      digitalWrite(LEFT_LED, HIGH);
      digitalWrite(RIGHT_LED, HIGH);
      analogWrite(ENA, speedCar);
      
      digitalWrite(IN_3, HIGH);
      digitalWrite(IN_4, LOW);
      analogWrite(ENB, speedCar);
  }

void goRight(){ 

      digitalWrite(IN_1, LOW);
      digitalWrite(IN_2, HIGH);
      digitalWrite(LEFT_LED, LOW);
      digitalWrite(RIGHT_LED, HIGH);
      analogWrite(ENA, speedCar);

      digitalWrite(IN_3, HIGH);
      digitalWrite(IN_4, LOW);
      analogWrite(ENB, speedCar);
  }

void goLeft(){

      digitalWrite(IN_1, HIGH);
      digitalWrite(IN_2, LOW);
      digitalWrite(LEFT_LED, HIGH);
      digitalWrite(RIGHT_LED, LOW);
      analogWrite(ENA, speedCar);

      digitalWrite(IN_3, LOW);
      digitalWrite(IN_4, HIGH);
      analogWrite(ENB, speedCar);
  }

void goAheadRight(){
      
      digitalWrite(IN_1, HIGH);
      digitalWrite(IN_2, LOW);
      digitalWrite(LEFT_LED, LOW);
      digitalWrite(RIGHT_LED, HIGH);      
      analogWrite(ENA, speedCar/speed_Coeff);

      
      digitalWrite(IN_3, LOW);
      digitalWrite(IN_4, HIGH);
      analogWrite(ENB, speedCar);
   }

void goAheadLeft(){
      
      digitalWrite(IN_1, LOW);
      digitalWrite(IN_2, HIGH);
      digitalWrite(LEFT_LED, HIGH);
      digitalWrite(RIGHT_LED, LOW);      
      analogWrite(ENA, speedCar);

      digitalWrite(IN_3, HIGH);
      digitalWrite(IN_4, LOW);
      analogWrite(ENB, speedCar/speed_Coeff);
  }

void goBackRight(){ 

      digitalWrite(IN_1, LOW);
      digitalWrite(IN_2, HIGH);
      digitalWrite(LEFT_LED, LOW);
      digitalWrite(RIGHT_LED, HIGH);
      analogWrite(ENA, speedCar/speed_Coeff);

      digitalWrite(IN_3, HIGH);
      digitalWrite(IN_4, LOW);
      analogWrite(ENB, speedCar);
  }

void goBackLeft(){ 

      digitalWrite(IN_1, HIGH);
      digitalWrite(IN_2, LOW);
      digitalWrite(LEFT_LED, HIGH);
      digitalWrite(RIGHT_LED, LOW);
      analogWrite(ENA, speedCar);

      digitalWrite(IN_3, LOW);
      digitalWrite(IN_4, HIGH);
      analogWrite(ENB, speedCar/speed_Coeff);
  }

void stopRobot(){  

      digitalWrite(IN_1, LOW);
      digitalWrite(IN_2, LOW);
      digitalWrite(LEFT_LED, LOW);
      digitalWrite(RIGHT_LED, LOW);
      analogWrite(ENA, speedCar);

      digitalWrite(IN_3, LOW);
      digitalWrite(IN_4, LOW);
      analogWrite(ENB, speedCar);
 }

void loop() {

    
    server.handleClient();
    
      command = server.arg("State");
      if (command == "F") goAhead();
      else if (command == "B") goBack();
      else if (command == "L") goLeft();
      else if (command == "R") goRight();
      else if (command == "I") goAheadRight();
      else if (command == "G") goAheadLeft();
      else if (command == "J") goBackRight();
      else if (command == "H") goBackLeft();
      else if (command == "0") speedCar = 400;
      else if (command == "1") speedCar = 470;
      else if (command == "2") speedCar = 540;
      else if (command == "3") speedCar = 610;
      else if (command == "4") speedCar = 680;
      else if (command == "5") speedCar = 750;
      else if (command == "6") speedCar = 820;
      else if (command == "7") speedCar = 890;
      else if (command == "8") speedCar = 960;
      else if (command == "9") speedCar = 1023;
      else if (command == "S") stopRobot();
}

void HTTP_handleRoot(void) {

if( server.hasArg("State") ){
       Serial.println(server.arg("State"));
  }
  server.send ( 200, "text/html", "" );
  delay(1);
}