Autonomous and wifi controlled ROVER

A homemade rover with a Arduino based microcontroller also this is the first versio

Jun 11, 2021

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rover

transportation

Components and supplies

Battery Holder, AA x 3

AA Batteries

DC Motor, 12 V

Dual H-Bridge motor drivers L293D

Arduino Nano R3

NodeMCU ESP8266 Breakout Board

Tools and machines

Hot glue gun (generic)

Project description

Code

this is the wifi code can be used with l298

c_cpp

simply upload it on ur node mcu

1#define ENA   14          // Enable/speed motors Right        GPIO14(D5)
2#define   ENB   12          // Enable/speed motors Left         GPIO12(D6)
3#define IN_1   15          //  in1 motors Right           GPIO15(D8)
4#define IN_2  13          //   in2 motors Right           GPIO13(D7)
5#define IN_3  2           //  in3 motors   Left            GPIO2(D4)
6#define IN_4  0           //  in4 motors Left            GPIO0(D3)
7
8#include   <ESP8266WiFi.h>
9#include <WiFiClient.h> 
10#include <ESP8266WebServer.h>
11
12String   command;             //String to store app command state.
13int speedCar = 800;          // 400 - 1023.
14int speed_Coeff = 3;
15
16const char* ssid = "NodeMCU   Car";
17ESP8266WebServer server(80);
18
19void setup() {
20 
21 pinMode(ENA,   OUTPUT);
22 pinMode(ENB, OUTPUT);  
23 pinMode(IN_1, OUTPUT);
24 pinMode(IN_2,   OUTPUT);
25 pinMode(IN_3, OUTPUT);
26 pinMode(IN_4, OUTPUT); 
27  
28  Serial.begin(115200);
29   
30// Connecting WiFi
31
32  WiFi.mode(WIFI_AP);
33  WiFi.softAP(ssid);
34
35   IPAddress myIP = WiFi.softAPIP();
36  Serial.print("AP IP address: ");
37   Serial.println(myIP);
38 
39 // Starting WEB-server 
40     server.on ( "/",   HTTP_handleRoot );
41     server.onNotFound ( HTTP_handleRoot );
42     server.begin();     
43}
44
45void goAhead(){ 
46
47      digitalWrite(IN_1, LOW);
48      digitalWrite(IN_2,   HIGH);
49      analogWrite(ENA, speedCar);
50
51      digitalWrite(IN_3, LOW);
52       digitalWrite(IN_4, HIGH);
53      analogWrite(ENB, speedCar);
54  }
55
56void   goBack(){ 
57
58      digitalWrite(IN_1, HIGH);
59      digitalWrite(IN_2, LOW);
60       analogWrite(ENA, speedCar);
61
62      digitalWrite(IN_3, HIGH);
63      digitalWrite(IN_4,   LOW);
64      analogWrite(ENB, speedCar);
65  }
66
67void goRight(){ 
68
69       digitalWrite(IN_1, HIGH);
70      digitalWrite(IN_2, LOW);
71      analogWrite(ENA,   speedCar);
72
73      digitalWrite(IN_3, LOW);
74      digitalWrite(IN_4, HIGH);
75       analogWrite(ENB, speedCar);
76  }
77
78void goLeft(){
79
80      digitalWrite(IN_1,   LOW);
81      digitalWrite(IN_2, HIGH);
82      analogWrite(ENA, speedCar);
83
84       digitalWrite(IN_3, HIGH);
85      digitalWrite(IN_4, LOW);
86      analogWrite(ENB,   speedCar);
87  }
88
89void goAheadRight(){
90      
91      digitalWrite(IN_1,   LOW);
92      digitalWrite(IN_2, HIGH);
93      analogWrite(ENA, speedCar/speed_Coeff);
94   
95      digitalWrite(IN_3, LOW);
96      digitalWrite(IN_4, HIGH);
97      analogWrite(ENB,   speedCar);
98   }
99
100void goAheadLeft(){
101      
102      digitalWrite(IN_1,   LOW);
103      digitalWrite(IN_2, HIGH);
104      analogWrite(ENA, speedCar);
105
106       digitalWrite(IN_3, LOW);
107      digitalWrite(IN_4, HIGH);
108      analogWrite(ENB,   speedCar/speed_Coeff);
109  }
110
111void goBackRight(){ 
112
113      digitalWrite(IN_1,   HIGH);
114      digitalWrite(IN_2, LOW);
115      analogWrite(ENA, speedCar/speed_Coeff);
116
117       digitalWrite(IN_3, HIGH);
118      digitalWrite(IN_4, LOW);
119      analogWrite(ENB,   speedCar);
120  }
121
122void goBackLeft(){ 
123
124      digitalWrite(IN_1, HIGH);
125       digitalWrite(IN_2, LOW);
126      analogWrite(ENA, speedCar);
127
128      digitalWrite(IN_3,   HIGH);
129      digitalWrite(IN_4, LOW);
130      analogWrite(ENB, speedCar/speed_Coeff);
131   }
132
133void stopRobot(){  
134
135      digitalWrite(IN_1, LOW);
136      digitalWrite(IN_2,   LOW);
137      analogWrite(ENA, speedCar);
138
139      digitalWrite(IN_3, LOW);
140       digitalWrite(IN_4, LOW);
141      analogWrite(ENB, speedCar);
142 }
143
144void   loop() {
145    server.handleClient();
146    
147      command = server.arg("State");
148       if (command == "F") goAhead();
149      else if (command == "B") goBack();
150       else if (command == "L") goLeft();
151      else if (command == "R") goRight();
152       else if (command == "I") goAheadRight();
153      else if (command == "G")   goAheadLeft();
154      else if (command == "J") goBackRight();
155      else   if (command == "H") goBackLeft();
156      else if (command == "0") speedCar   = 400;
157      else if (command == "1") speedCar = 470;
158      else if (command   == "2") speedCar = 540;
159      else if (command == "3") speedCar = 610;
160       else if (command == "4") speedCar = 680;
161      else if (command == "5")   speedCar = 750;
162      else if (command == "6") speedCar = 820;
163      else   if (command == "7") speedCar = 890;
164      else if (command == "8") speedCar   = 960;
165      else if (command == "9") speedCar = 1023;
166      else if (command   == "S") stopRobot();
167}
168
169void HTTP_handleRoot(void) {
170
171if( server.hasArg("State")   ){
172       Serial.println(server.arg("State"));
173  }
174  server.send ( 200,   "text/html", "" );
175  delay(1);
176}

#define ENA   14          // Enable/speed motors Right        GPIO14(D5)
#define   ENB   12          // Enable/speed motors Left         GPIO12(D6)
#define IN_1   15          //  in1 motors Right           GPIO15(D8)
#define IN_2  13          //   in2 motors Right           GPIO13(D7)
#define IN_3  2           //  in3 motors   Left            GPIO2(D4)
#define IN_4  0           //  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 = "NodeMCU   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); 
  
  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);
      analogWrite(ENA, speedCar);

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

void   goBack(){ 

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

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

void goRight(){ 

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

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

void goLeft(){

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

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

void goAheadRight(){
      
      digitalWrite(IN_1,   LOW);
      digitalWrite(IN_2, 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);
      analogWrite(ENA, speedCar);

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

void goBackRight(){ 

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

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

void stopRobot(){  

      digitalWrite(IN_1, LOW);
      digitalWrite(IN_2,   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);
}

autonomous

c_cpp

1#define IN_1  15            //        (D8)
2#define IN_2  13           //
3       (D7)
4#define IN_3  2           //           (D4)
5#define IN_4  0           //
6          (D3)
7void setup()
8{
9  pinMode(IN_1, OUTPUT);
10  pinMode(IN_2,
11  OUTPUT);
12  pinMode(IN_3, OUTPUT);
13  pinMode(IN_4, OUTPUT);
14
15}
16void
17  loop ()
18{
19  
20  digitalWrite(IN_1, LOW);
21  digitalWrite(IN_2, HIGH);
22
23
24  digitalWrite(IN_3, LOW);
25  digitalWrite(IN_4, HIGH);
26  delay (3000);
27
28
29  digitalWrite(IN_1, LOW);
30  digitalWrite(IN_2, HIGH);
31
32
33  digitalWrite(IN_3,
34  HIGH);
35  digitalWrite(IN_4, LOW);
36  delay (1500);
37
38
39}

#define IN_1  15            //        (D8)
#define IN_2  13           //
       (D7)
#define IN_3  2           //           (D4)
#define IN_4  0           //
          (D3)
void setup()
{
  pinMode(IN_1, OUTPUT);
  pinMode(IN_2,
  OUTPUT);
  pinMode(IN_3, OUTPUT);
  pinMode(IN_4, OUTPUT);

}
void
  loop ()
{
  
  digitalWrite(IN_1, LOW);
  digitalWrite(IN_2, HIGH);


  digitalWrite(IN_3, LOW);
  digitalWrite(IN_4, HIGH);
  delay (3000);


  digitalWrite(IN_1, LOW);
  digitalWrite(IN_2, HIGH);


  digitalWrite(IN_3,
  HIGH);
  digitalWrite(IN_4, LOW);
  delay (1500);


}

autonomous

c_cpp

1#define IN_1  15            //        (D8)
2#define IN_2  13           //       (D7)
3#define IN_3  2           //           (D4)
4#define IN_4  0           //          (D3)
5void setup()
6{
7  pinMode(IN_1, OUTPUT);
8  pinMode(IN_2,  OUTPUT);
9  pinMode(IN_3, OUTPUT);
10  pinMode(IN_4, OUTPUT);
11
12}
13void  loop ()
14{
15  
16  digitalWrite(IN_1, LOW);
17  digitalWrite(IN_2, HIGH);
18
19  digitalWrite(IN_3, LOW);
20  digitalWrite(IN_4, HIGH);
21  delay (3000);
22
23  digitalWrite(IN_1, LOW);
24  digitalWrite(IN_2, HIGH);
25
26
27  digitalWrite(IN_3,  HIGH);
28  digitalWrite(IN_4, LOW);
29  delay (1500);
30
31
32}

#define IN_1  15            //        (D8)
#define IN_2  13           //       (D7)
#define IN_3  2           //           (D4)
#define IN_4  0           //          (D3)
void setup()
{
  pinMode(IN_1, OUTPUT);
  pinMode(IN_2,  OUTPUT);
  pinMode(IN_3, OUTPUT);
  pinMode(IN_4, OUTPUT);

}
void  loop ()
{
  
  digitalWrite(IN_1, LOW);
  digitalWrite(IN_2, HIGH);

  digitalWrite(IN_3, LOW);
  digitalWrite(IN_4, HIGH);
  delay (3000);

  digitalWrite(IN_1, LOW);
  digitalWrite(IN_2, HIGH);


  digitalWrite(IN_3,  HIGH);
  digitalWrite(IN_4, LOW);
  delay (1500);


}

this is the wifi code can be used with l298

c_cpp

simply upload it on ur node mcu

1#define ENA   14          // Enable/speed motors Right        GPIO14(D5)
2#define  ENB   12          // Enable/speed motors Left         GPIO12(D6)
3#define IN_1  15          //  in1 motors Right           GPIO15(D8)
4#define IN_2  13          //  in2 motors Right           GPIO13(D7)
5#define IN_3  2           //  in3 motors  Left            GPIO2(D4)
6#define IN_4  0           //  in4 motors Left            GPIO0(D3)
7
8#include  <ESP8266WiFi.h>
9#include <WiFiClient.h> 
10#include <ESP8266WebServer.h>
11
12String  command;             //String to store app command state.
13int speedCar = 800;         // 400 - 1023.
14int speed_Coeff = 3;
15
16const char* ssid = "NodeMCU  Car";
17ESP8266WebServer server(80);
18
19void setup() {
20 
21 pinMode(ENA,  OUTPUT);
22 pinMode(ENB, OUTPUT);  
23 pinMode(IN_1, OUTPUT);
24 pinMode(IN_2,  OUTPUT);
25 pinMode(IN_3, OUTPUT);
26 pinMode(IN_4, OUTPUT); 
27  
28  Serial.begin(115200);
29  
30// Connecting WiFi
31
32  WiFi.mode(WIFI_AP);
33  WiFi.softAP(ssid);
34
35  IPAddress myIP = WiFi.softAPIP();
36  Serial.print("AP IP address: ");
37  Serial.println(myIP);
38 
39 // Starting WEB-server 
40     server.on ( "/",  HTTP_handleRoot );
41     server.onNotFound ( HTTP_handleRoot );
42     server.begin();    
43}
44
45void goAhead(){ 
46
47      digitalWrite(IN_1, LOW);
48      digitalWrite(IN_2,  HIGH);
49      analogWrite(ENA, speedCar);
50
51      digitalWrite(IN_3, LOW);
52      digitalWrite(IN_4, HIGH);
53      analogWrite(ENB, speedCar);
54  }
55
56void  goBack(){ 
57
58      digitalWrite(IN_1, HIGH);
59      digitalWrite(IN_2, LOW);
60      analogWrite(ENA, speedCar);
61
62      digitalWrite(IN_3, HIGH);
63      digitalWrite(IN_4,  LOW);
64      analogWrite(ENB, speedCar);
65  }
66
67void goRight(){ 
68
69      digitalWrite(IN_1, HIGH);
70      digitalWrite(IN_2, LOW);
71      analogWrite(ENA,  speedCar);
72
73      digitalWrite(IN_3, LOW);
74      digitalWrite(IN_4, HIGH);
75      analogWrite(ENB, speedCar);
76  }
77
78void goLeft(){
79
80      digitalWrite(IN_1,  LOW);
81      digitalWrite(IN_2, HIGH);
82      analogWrite(ENA, speedCar);
83
84      digitalWrite(IN_3, HIGH);
85      digitalWrite(IN_4, LOW);
86      analogWrite(ENB,  speedCar);
87  }
88
89void goAheadRight(){
90      
91      digitalWrite(IN_1,  LOW);
92      digitalWrite(IN_2, HIGH);
93      analogWrite(ENA, speedCar/speed_Coeff);
94  
95      digitalWrite(IN_3, LOW);
96      digitalWrite(IN_4, HIGH);
97      analogWrite(ENB,  speedCar);
98   }
99
100void goAheadLeft(){
101      
102      digitalWrite(IN_1,  LOW);
103      digitalWrite(IN_2, HIGH);
104      analogWrite(ENA, speedCar);
105
106      digitalWrite(IN_3, LOW);
107      digitalWrite(IN_4, HIGH);
108      analogWrite(ENB,  speedCar/speed_Coeff);
109  }
110
111void goBackRight(){ 
112
113      digitalWrite(IN_1,  HIGH);
114      digitalWrite(IN_2, LOW);
115      analogWrite(ENA, speedCar/speed_Coeff);
116
117      digitalWrite(IN_3, HIGH);
118      digitalWrite(IN_4, LOW);
119      analogWrite(ENB,  speedCar);
120  }
121
122void goBackLeft(){ 
123
124      digitalWrite(IN_1, HIGH);
125      digitalWrite(IN_2, LOW);
126      analogWrite(ENA, speedCar);
127
128      digitalWrite(IN_3,  HIGH);
129      digitalWrite(IN_4, LOW);
130      analogWrite(ENB, speedCar/speed_Coeff);
131  }
132
133void stopRobot(){  
134
135      digitalWrite(IN_1, LOW);
136      digitalWrite(IN_2,  LOW);
137      analogWrite(ENA, speedCar);
138
139      digitalWrite(IN_3, LOW);
140      digitalWrite(IN_4, LOW);
141      analogWrite(ENB, speedCar);
142 }
143
144void  loop() {
145    server.handleClient();
146    
147      command = server.arg("State");
148      if (command == "F") goAhead();
149      else if (command == "B") goBack();
150      else if (command == "L") goLeft();
151      else if (command == "R") goRight();
152      else if (command == "I") goAheadRight();
153      else if (command == "G")  goAheadLeft();
154      else if (command == "J") goBackRight();
155      else  if (command == "H") goBackLeft();
156      else if (command == "0") speedCar  = 400;
157      else if (command == "1") speedCar = 470;
158      else if (command  == "2") speedCar = 540;
159      else if (command == "3") speedCar = 610;
160      else if (command == "4") speedCar = 680;
161      else if (command == "5")  speedCar = 750;
162      else if (command == "6") speedCar = 820;
163      else  if (command == "7") speedCar = 890;
164      else if (command == "8") speedCar  = 960;
165      else if (command == "9") speedCar = 1023;
166      else if (command  == "S") stopRobot();
167}
168
169void HTTP_handleRoot(void) {
170
171if( server.hasArg("State")  ){
172       Serial.println(server.arg("State"));
173  }
174  server.send ( 200,  "text/html", "" );
175  delay(1);
176}

#define ENA   14          // Enable/speed motors Right        GPIO14(D5)
#define  ENB   12          // Enable/speed motors Left         GPIO12(D6)
#define IN_1  15          //  in1 motors Right           GPIO15(D8)
#define IN_2  13          //  in2 motors Right           GPIO13(D7)
#define IN_3  2           //  in3 motors  Left            GPIO2(D4)
#define IN_4  0           //  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 = "NodeMCU  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); 
  
  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);
      analogWrite(ENA, speedCar);

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

void  goBack(){ 

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

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

void goRight(){ 

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

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

void goLeft(){

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

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

void goAheadRight(){
      
      digitalWrite(IN_1,  LOW);
      digitalWrite(IN_2, 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);
      analogWrite(ENA, speedCar);

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

void goBackRight(){ 

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

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

void stopRobot(){  

      digitalWrite(IN_1, LOW);
      digitalWrite(IN_2,  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);
}

Documentation

the cad model

this is the 2nd version one so the roof is not there on version 1

the cad model

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