Wifi Enabled 2/4 Wheeled Robot Platform Utilizing MKR1000

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WIP- Using a MKR1000 to create a WiFi Enabled 2/4 Wheeled Robot Platform, Hardware is in hand, now to implement software

Things used in this project

Hardware components

Arduino MKR1000

I was one of 1000 who won this

SparkFun Dual H-Bridge motor drivers L298

Any L298N DC Motor driver will do that’s Adafruit Shield compatible

Adafruit Robot platform

Any 2/4 wheeled Robotic platform base can be used-I am building both-add DC Motors in Servo enclosure. This was inspiration platform for the MKR1000

SainSmart HC-SR04 Ultrasonic Sensor

I used a SainSmart Clone – these sensors can be purchased very cheap

Adafruit DC Motor in Servo Enclosure

Buy either two or four- based upon platform to based upon

Adafruit Wheel for Micro Continuous Rotation FS90R Servo

Buy two or four-based upon platform to based upon

UltraFire Rechargeable 4000 mAh Battery & Enclosure – 3.7v to 9v AA/18650

Jumper wires (generic)

Any style and color with proper termination

servo motors

Arduino Stacking Headers

You’ll need 2 kits, 2x 6-pin, and 2x x-pin

Hand tools and fabrication machines

Soldering iron (generic)

Solder- Rosen core generic

Heat Shrink Tubing

Philips Screwdriver- various sizes

adjustable wrench

needle nose plyer

Story

This is my 1st published hackster build. I have been interested in Wifi enabled Robot platforms since hearing about the raspberry pi for $25….. Now I have many Robotic Platforms built around the Raspberry Pi, Arduino, PcDuino and many clones of each of them. I have not mastered coding but have learned how to adapt code that others have published and have felt that not one available Robot Platform can interface with anything, any device. Not that this will, but it is helping me to get there in development.

Here is a link to some of my efforts: PiBot Tour.

1. Gather tools-layout organized

2. Identify / layout hardware

4 wheeled chassis is built–2 wheeled chassis still in bags

Parts for 2 wheeled Platform

2b.Assemble mini rover platform: (IF 4wheeled version substitute 2 additional dc motors for caster/pivot wheel) also install L298N DC Motor driver.

Assembling DC Motor in Servo chassis to platform. These are small screws

This small screw got away during assembly…oops

Both DC Motors attached to platform

Wheel assembly

Slip rubber tire around plastic tire/rim/wheel

Completed Wheel assembly

Attach wheel to DC Motor shaft with small screw

2 Wheels attached to platform

Position and attach Front Caster

Completed base for 2 wheeled Platform

Completed 2 and 4 wheeled base Platforms

3. Install MKR1000 supplied header pins onto breadboard at proper width spacing for MKR1000.

MKR1000 has Arduino Long Stacking Pins inserted onto PC board

4. Install Arduino stacking header pins onto supplied MKR1000 header pins; these LONG Stacking pins should be facing up.

5. Install MKR1000 onto Arduino Stacking pins with component side DOWN.

MKR1000 with long Arduino Stacking pins already soldered

6. Before soldering header pins onto MKR1000 ensure that they are straight up.

7. Solder Arduino Stacking header pins to bottom side pads on MKR1000.

8. ensure that your soldering iron is only hot enough to melt your solder and not the MKR1000.

***on 3/6/16 this “unofficial setup was uploaded” I wish it was done before I started.

https://www.hackster.io/charifmahmoudi/arduino-mkr1000-getting-strarted-08bb4a?utm_source=hackster&utm_medium=email&utm_campaign=new_projects

9. Connect USB to micro-USB cable to MKR1000 using micro USB cable end

10. Connect larger USB cable end to your PC, after a few moments, Windows will have installed appropriate Device driver for the MKR1000 and also select a COM-port.

11. Open your Arduino IDE interface (1.6.7).

Select MKR1000 as desired board

12. Open tools/board manager to download and install Arduino drivers (there is an issue with latest version for Arduino/Genuino MKR1000 under Arduino SAMD (32-bits ARM Cortex-MO+) Boards v. 1.6.3?

v 1.6.4 did not properly recognized/ID my MKR1000. I needed to revert back a version.

13. search for proper latest driver by typing MKR1000 in the Boards Manager search filter.

Type MKR1000 in search filter

14.Download available example files from GITHUB.COM FOR WIFI101

https://github.com/arduino-libraries/WiFi101

I built my simple web control interface using the SimpleWebServerWiFi example.

My Modified code is: Revised MKR1000 WiFi Web Server Code can be downloaded from here.

15. I did test the AP_SimpleWebServer example as well, but it chose my HOME’s WiFi Router’s IP address and caused conflicts with my connection.

16. Be sure to revise the example code with your networks’info:

“char ssid[] = “yourNetwork”; “network SSID (name)”

“char pass[] = “secretPassword”; “network “password”

Customize code for your Network

17. Save revision, verify code, upload code to MKR1000 to test function. This code will allow you to turn on your LED on the MKR1000…my board is on pin 6, but this example is on pin 9…experiment/test.

18. Open your webbrowser.

19. With the MKR1000 still connected to your pc via the usb cable, open the serial port window in the Arduino IDE window. you should see the following responses to/from the webbrowser as content is displayed on your browser and you select led on/off.

SimpleWebServer active via serial connection in Arduino IDE

20. If no response in serial window, ensure the baud rate of COMport of pc matches the baud rate in the code uploaded as well as in the serial window. in my case, all three are 115200.

21. If all 3 baud rates match, try reloading the code example again.during my development and test i needed to perform this task multiple times, i did not try a slower baud rate.

My 1st Code mishap:

I had the DC Motor code in the Void loop, so it was always running while the Webpage was trying to update!!! corrected code below.

22. If this web page loads and functions correctly, you can upload my motor control version : SimpleWebServerWiFi_MKR1000_L298N_Control from here. (Video is not uploaded yet)

23. Helpful guides found after my 1st few days…1 week passed (revised 3/6/16)

https://www.hackster.io/charifmahmoudi/arduino-mkr1000-getting-strarted-08bb4a?utm_source=hackster&utm_medium=email&utm_campaign=new_projects

https://www.hackster.io/nazarenko_a_v/mkr1000-unboxing-and-testing-7-steps-13f8f8?ref=part&ref_id=15858&offset=0

https://www.hackster.io/charifmahmoudi/arduino-mkr1000-getting-strarted-08bb4a?ref=part&ref_id=15858&offset=6

https://www.hackster.io/nazarenko_a_v/mkr1000-connecting-to-the-wifi-3-steps-d02fed?ref=part&ref_id=15858&offset=7

https://www.hackster.io/mohanp/mkr1000-azure-iot-hub-interface-using-http-57bfda?ref=part&ref_id=15858&offset=2

https://www.hackster.io/mohanp/mkr1000-windows-remote-arduino-with-firmata-wifi-7352be?ref=part&ref_id=15858&offset=1

24. Layout and test of WiFi_L298N_DC_Motor Control Test Bed.

Label MKR1000 pin-outs on test bed

Label MKR1000 pin-outs on test bed (2)

DC Motors, L298 Controller and MKR1000 on test bed-Development

Running LED ON/OFF Demo script from Web Page

This is MKR1000 SimpleWebServerDCMotorControl-Version 2

/*
  WiFi Web Server LED Blink

 A simple web server that lets you blink an LED via the web.
 This sketch will print the IP address of your WiFi Shield (once connected)
 to the Serial monitor. From there, you can open that address in a web browser
 to turn on and off the LED on pin 6.

 If the IP address of your shield is yourAddress:
 http://yourAddress/H turns the LED on
 http://yourAddress/L turns it off

 This example is written for a network using WPA encryption. For
 WEP or WPA, change the Wifi.begin() call accordingly.

 Circuit:
 * WiFi shield attached
 * LED attached to pin 6

 created 25 Nov 2012
 by Tom Igoe
 modified 24 to 29 Feb 2016
 by James Martel
 added simple Wifi control and two DC Motor code using L298N 
 */
#include <SPI.h>
#include <WiFi101.h>

char ssid[] = "YOUR_SSID";      //  your network SSID (name)
char pass[] = "YOUR_NETWORKPASSWORD";   // your network password
int keyIndex = 0;                 // your network key Index number (needed only for WEP)

int status = WL_IDLE_STATUS;
WiFiServer server(80);

int motorPin = 8; //motorA+
int motorPin2 = 7; //motorA-
int motorPin3 = 0; //motorB+
int motorPin4 = 1; //motorB-
int motorPin5 = 2; //pwm INA
int motorPin6 = 3; //pwm INB


void setup() {
  Serial.begin(115200);      // initialize serial communication
  pinMode(6, OUTPUT);      // set the LED pin mode
  pinMode(motorPin, OUTPUT); //motorA+
  pinMode(motorPin2, OUTPUT); //motorA-
  pinMode(motorPin3, OUTPUT); //motorB+
  pinMode(motorPin4, OUTPUT); //motorB-
  pinMode(motorPin5, OUTPUT); //pwm INA
  pinMode(motorPin6, OUTPUT); //pwm INB 
   
  // check for the presence of the shield:
  if (WiFi.status() == WL_NO_SHIELD) {
    Serial.println("WiFi shield not present");
    while (true);       // don't continue
  }

  // attempt to connect to Wifi network:
  while ( status != WL_CONNECTED) {
    Serial.print("Attempting to connect to Network named: ");
    Serial.println(ssid);                   // print the network name (SSID);

    // Connect to WPA/WPA2 network. Change this line if using open or WEP network:
    status = WiFi.begin(ssid, pass);
    // wait 10 seconds for connection:
    delay(10000);
  }
  server.begin();                           // start the web server on port 80
  printWifiStatus();                        // you're connected now, so print out the status
}


/*void loop() {
 for(int motorValue = 0 ; motorValue <= 255; motorValue +=5){
 analogWrite(motorPin, motorValue);
 analogWrite(motorPin3, motorValue); 
 delay(30);
 analogWrite(motorPin2, motorValue);  
 analogWrite(motorPin4, motorValue);  
 delay(30);
 // analogWrite(motorPin5, motorValue);
 // delay(30);
 // analogWrite(motorPin6, motorValue);  
 // delay(30);       
 }
 for(int motorValue = 255 ; motorValue >= 0; motorValue -=5){
 analogWrite(motorPin, motorValue);
 analogWrite(motorPin3, motorValue); 
 delay(30);
 analogWrite(motorPin2, motorValue); 
 analogWrite(motorPin4, motorValue);  
 delay(30);
 // analogWrite(motorPin5, motorValue);
 // delay(30);
 // analogWrite(motorPin6, motorValue);  
 // delay(30);       
 } */
void loop(){  
/* // Forward  
   digitalWrite(motorPin, HIGH);
   digitalWrite(motorPin2, LOW);   
   digitalWrite(motorPin3, HIGH);
   digitalWrite(motorPin4, LOW);
   digitalWrite(motorPin5, HIGH);
   digitalWrite(motorPin6, HIGH);         
   delay(100);
   // STOP
   digitalWrite(motorPin5, LOW);
   digitalWrite(motorPin6, LOW);
   delay(100);   
   // Reverse
   digitalWrite(motorPin, LOW);
   digitalWrite(motorPin2, HIGH);   
   digitalWrite(motorPin3, LOW);
   digitalWrite(motorPin4, HIGH);
   digitalWrite(motorPin5, HIGH);
   digitalWrite(motorPin6, HIGH);        
   delay(100);
   // STOP
   digitalWrite(motorPin5, LOW);
   digitalWrite(motorPin6, LOW);
   delay(100);  
   // LEFT
   digitalWrite(motorPin, LOW);
   digitalWrite(motorPin2, HIGH);   
   digitalWrite(motorPin3, HIGH);
   digitalWrite(motorPin4, LOW);
   digitalWrite(motorPin5, HIGH);
   digitalWrite(motorPin6, HIGH);      
   delay(100);
   // STOP
   digitalWrite(motorPin5, LOW);
   digitalWrite(motorPin6, LOW);
   delay(100);
   // RIGHT
   digitalWrite(motorPin, HIGH);
   digitalWrite(motorPin2, LOW);   
   digitalWrite(motorPin3, LOW);
   digitalWrite(motorPin4, HIGH);
   digitalWrite(motorPin5, HIGH);
   digitalWrite(motorPin6, HIGH);        
   delay(100);
   // STOP
   digitalWrite(motorPin5, LOW);
   digitalWrite(motorPin6, LOW);
   delay(100);
   */
   
   
  WiFiClient client = server.available();   // listen for incoming clients

  if (client) {                             // if you get a client,
    Serial.println("new client");           // print a message out the serial port
    String currentLine = "";                // make a String to hold incoming data from the client
    while (client.connected()) {            // loop while the client's connected
      if (client.available()) {             // if there's bytes to read from the client,
        char c = client.read();             // read a byte, then
        Serial.write(c);                    // print it out the serial monitor
        if (c == '\n') {                    // if the byte is a newline character

          // if the current line is blank, you got two newline characters in a row.
          // that's the end of the client HTTP request, so send a response:
          if (currentLine.length() == 0) {
            // HTTP headers always start with a response code (e.g. HTTP/1.1 200 OK)
            // and a content-type so the client knows what's coming, then a blank line:
            client.println("HTTP/1.1 200 OK");
            client.println("Content-type:text/html");
            client.println();

            // the content of the HTTP response follows the header:
            client.print("Click <a href=\"/H\">here</a> turn the LED on pin 6 on<br>");
            client.print("Click <a href=\"/L\">here</a> turn the LED on pin 6 off<br>");
            client.print("Click <a href=\"/W\">here</a> move FORWARD 8,0 on<br>");
            client.print("Click <a href=\"/S\">here</a> STOP off<br>");
            client.print("Click <a href=\"/X\">here</a> move REVERSE 7,1 on<br>");
            client.print("Click <a href=\"/A\">here</a> move LEFT 7,0 on<br>");
            client.print("Click <a href=\"/D\">here</a> move RIGHT 8,1 on<br>");
            // The HTTP response ends with another blank line:
            client.println();
            // break out of the while loop:
            break;
          }
          else {      // if you got a newline, then clear currentLine:
            currentLine = "";
          }
        }
        else if (c != '\r') {    // if you got anything else but a carriage return character,
          currentLine += c;      // add it to the end of the currentLine
        }

        // Check to see if the client request was "GET /H" or "GET /L" or "GET /W" or "GET /S" or "GET /X" or "GET /A" or "GET /D":
        if (currentLine.endsWith("GET /H")) {
          digitalWrite(6, HIGH);               // GET /H turns the LED on
        }
        if (currentLine.endsWith("GET /L")) {
          digitalWrite(6, LOW);                // GET /O turns the LED off
        }
        if (currentLine.endsWith("GET /W")) {
          digitalWrite(8, HIGH);               // GET /W moves FORWARD
          digitalWrite(7, LOW);
          digitalWrite(0, HIGH);               
          digitalWrite(1, LOW);
          digitalWrite(2, HIGH);               
          digitalWrite(3, HIGH);
        }
        if (currentLine.endsWith("GET /S")) {
          digitalWrite(2, LOW);                // GET /S STOP
          digitalWrite(3, LOW);
          digitalWrite(8, LOW);               
          digitalWrite(7, LOW);
          digitalWrite(0, LOW);               
          digitalWrite(1, LOW);                         
        }
        if (currentLine.endsWith("GET /X")) {
          digitalWrite(8, LOW);               // GET /X moves REVERSE
          digitalWrite(7, HIGH);               
          digitalWrite(0, LOW);          
          digitalWrite(1, HIGH);
          digitalWrite(2, HIGH);               
          digitalWrite(3, HIGH);                        
        }
        if (currentLine.endsWith("GET /A")) {
          digitalWrite(8, LOW);               // GET /A moves LEFT
          digitalWrite(7, HIGH);               
          digitalWrite(0, HIGH);          
          digitalWrite(1, LOW);
          digitalWrite(2, HIGH);               
          digitalWrite(3, HIGH);          
        }
         if (currentLine.endsWith("GET /D")) {
          digitalWrite(8, HIGH);               // GET /D moves RIGHT
          digitalWrite(7, LOW);               
          digitalWrite(0, LOW);          
          digitalWrite(1, HIGH);
          digitalWrite(2, HIGH);               
          digitalWrite(3, HIGH);            
        }                                       
      }
    }
    // close the connection:
    client.stop();
    Serial.println("client disonnected");
  }
}

void printWifiStatus() {
  // print the SSID of the network you're attached to:
  Serial.print("SSID: ");
  Serial.println(WiFi.SSID());

  // print your WiFi shield's IP address:
  IPAddress ip = WiFi.localIP();
  Serial.print("IP Address: ");
  Serial.println(ip);

  // print the received signal strength:
  long rssi = WiFi.RSSI();
  Serial.print("signal strength (RSSI):");
  Serial.print(rssi);
  Serial.println(" dBm");
  // print where to go in a browser:
  Serial.print("To see this page in action, open a browser to http://");
  Serial.println(ip);
}

/*
  WiFi Web Server LED Blink

 A simple web server that lets you blink an LED via the web.
 This sketch will print the IP address of your WiFi Shield (once connected)
 to the Serial monitor. From there, you can open that address in a web browser
 to turn on and off the LED on pin 6.

 If the IP address of your shield is yourAddress:
 http://yourAddress/H turns the LED on
 http://yourAddress/L turns it off

 This example is written for a network using WPA encryption. For
 WEP or WPA, change the Wifi.begin() call accordingly.

 Circuit:
 * WiFi shield attached
 * LED attached to pin 6

 created 25 Nov 2012
 by Tom Igoe
 modified 24 Feb 2016
 by James Martel
 added simple Wifi control and two DC Motor code using L298N 
 */
#include <SPI.h>
#include <WiFi101.h>

char ssid[] = "FiOS-PS868";      //  your network SSID (name)
char pass[] = "aim556hold58kayak";   // your network password
int keyIndex = 0;                 // your network key Index number (needed only for WEP)

int status = WL_IDLE_STATUS;
WiFiServer server(80);

int motorPin = 8; //motorA+
int motorPin2 = 7; //motorA-
int motorPin3 = 0; //motorB+
int motorPin4 = 1; //motorB-
int motorPin5 = 2; //pwm INA
int motorPin6 = 3; //pwm INB


void setup() {
  Serial.begin(115200);      // initialize serial communication
  pinMode(6, OUTPUT);      // set the LED pin mode
  pinMode(motorPin, OUTPUT); //motorA+
  pinMode(motorPin2, OUTPUT); //motorA-
  pinMode(motorPin3, OUTPUT); //motorB+
  pinMode(motorPin4, OUTPUT); //motorB-
  pinMode(motorPin5, OUTPUT); //pwm INA
  pinMode(motorPin6, OUTPUT); //pwm INB 
   
  // check for the presence of the shield:
  if (WiFi.status() == WL_NO_SHIELD) {
    Serial.println("WiFi shield not present");
    while (true);       // don't continue
  }

  // attempt to connect to Wifi network:
  while ( status != WL_CONNECTED) {
    Serial.print("Attempting to connect to Network named: ");
    Serial.println(ssid);                   // print the network name (SSID);

    // Connect to WPA/WPA2 network. Change this line if using open or WEP network:
    status = WiFi.begin(ssid, pass);
    // wait 10 seconds for connection:
    delay(10000);
  }
  server.begin();                           // start the web server on port 80
  printWifiStatus();                        // you're connected now, so print out the status
}


/*void loop() {
 for(int motorValue = 0 ; motorValue <= 255; motorValue +=5){
 analogWrite(motorPin, motorValue);
 analogWrite(motorPin3, motorValue); 
 delay(30);
 analogWrite(motorPin2, motorValue);  
 analogWrite(motorPin4, motorValue);  
 delay(30);
 // analogWrite(motorPin5, motorValue);
 // delay(30);
 // analogWrite(motorPin6, motorValue);  
 // delay(30);       
 }
 for(int motorValue = 255 ; motorValue >= 0; motorValue -=5){
 analogWrite(motorPin, motorValue);
 analogWrite(motorPin3, motorValue); 
 delay(30);
 analogWrite(motorPin2, motorValue); 
 analogWrite(motorPin4, motorValue);  
 delay(30);
 // analogWrite(motorPin5, motorValue);
 // delay(30);
 // analogWrite(motorPin6, motorValue);  
 // delay(30);       
 } */
void loop(){  
/* // Forward  
   digitalWrite(motorPin, HIGH);
   digitalWrite(motorPin2, LOW);   
   digitalWrite(motorPin3, HIGH);
   digitalWrite(motorPin4, LOW);
   digitalWrite(motorPin5, HIGH);
   digitalWrite(motorPin6, HIGH);         
   delay(100);
   // STOP
   digitalWrite(motorPin5, LOW);
   digitalWrite(motorPin6, LOW);
   delay(100);   
   // Reverse
   digitalWrite(motorPin, LOW);
   digitalWrite(motorPin2, HIGH);   
   digitalWrite(motorPin3, LOW);
   digitalWrite(motorPin4, HIGH);
   digitalWrite(motorPin5, HIGH);
   digitalWrite(motorPin6, HIGH);        
   delay(100);
   // STOP
   digitalWrite(motorPin5, LOW);
   digitalWrite(motorPin6, LOW);
   delay(100);  
   // LEFT
   digitalWrite(motorPin, LOW);
   digitalWrite(motorPin2, HIGH);   
   digitalWrite(motorPin3, HIGH);
   digitalWrite(motorPin4, LOW);
   digitalWrite(motorPin5, HIGH);
   digitalWrite(motorPin6, HIGH);      
   delay(100);
   // STOP
   digitalWrite(motorPin5, LOW);
   digitalWrite(motorPin6, LOW);
   delay(100);
   // RIGHT
   digitalWrite(motorPin, HIGH);
   digitalWrite(motorPin2, LOW);   
   digitalWrite(motorPin3, LOW);
   digitalWrite(motorPin4, HIGH);
   digitalWrite(motorPin5, HIGH);
   digitalWrite(motorPin6, HIGH);        
   delay(100);
   // STOP
   digitalWrite(motorPin5, LOW);
   digitalWrite(motorPin6, LOW);
   delay(100);
   */
   
   
  WiFiClient client = server.available();   // listen for incoming clients

  if (client) {                             // if you get a client,
    Serial.println("new client");           // print a message out the serial port
    String currentLine = "";                // make a String to hold incoming data from the client
    while (client.connected()) {            // loop while the client's connected
      if (client.available()) {             // if there's bytes to read from the client,
        char c = client.read();             // read a byte, then
        Serial.write(c);                    // print it out the serial monitor
        if (c == '\n') {                    // if the byte is a newline character

          // if the current line is blank, you got two newline characters in a row.
          // that's the end of the client HTTP request, so send a response:
          if (currentLine.length() == 0) {
            // HTTP headers always start with a response code (e.g. HTTP/1.1 200 OK)
            // and a content-type so the client knows what's coming, then a blank line:
            client.println("HTTP/1.1 200 OK");
            client.println("Content-type:text/html");
            client.println();

            // the content of the HTTP response follows the header:
            client.print("Click <a href=\"/H\">here</a> turn the LED on pin 6 on<br>");
            client.print(" ");
            client.print("Click <a href=\"/L\">here</a> turn the LED on pin 6 off<br>");
            client.print(" ");
            client.print("Click <a href=\"/W\">here</a> move FORWARD 8,0 on<br>");
            client.print(" ");
            client.print("Click <a href=\"/S\">here</a> STOP off<br>");
            client.print(" ");
            client.print("Click <a href=\"/X\">here</a> move REVERSE 7,1 on<br>");
            client.print(" ");
            client.print("Click <a href=\"/A\">here</a> move LEFT 7,0 on<br>");
            client.print(" ");
            client.print("Click <a href=\"/D\">here</a> move RIGHT 8,1 on<br>");
            client.print(" ");
            // The HTTP response ends with another blank line:
            client.println();
            // break out of the while loop:
            break;
          }
          else {      // if you got a newline, then clear currentLine:
            currentLine = "";
          }
        }
        else if (c != '\r') {    // if you got anything else but a carriage return character,
          currentLine += c;      // add it to the end of the currentLine
        }

        // Check to see if the client request was "GET /H" or "GET /L" or "GET /W" or "GET /S" or "GET /X" or "GET /A" or "GET /D":
        if (currentLine.endsWith("GET /H")) {
          digitalWrite(6, HIGH);               // GET /H turns the LED on
        }
        if (currentLine.endsWith("GET /L")) {
          digitalWrite(6, LOW);                // GET /O turns the LED off
        }
        if (currentLine.endsWith("GET /W")) {
          digitalWrite(8, HIGH);               // GET /W moves FORWARD
          digitalWrite(7, LOW);
          digitalWrite(0, HIGH);               
          digitalWrite(1, LOW);
          digitalWrite(2, HIGH);               
          digitalWrite(3, HIGH);
          delay(300);
          digitalWrite(8, LOW);
          digitalWrite(0, LOW);
        }
        if (currentLine.endsWith("GET /S")) {
          digitalWrite(2, LOW);                // GET /S STOP
          digitalWrite(3, LOW);
          digitalWrite(8, LOW);               
          digitalWrite(7, LOW);
          digitalWrite(0, LOW);               
          digitalWrite(1, LOW);
          delay(30);                         
        }
        if (currentLine.endsWith("GET /X")) {
          digitalWrite(8, LOW);               // GET /X moves REVERSE
          digitalWrite(7, HIGH);               
          digitalWrite(0, LOW);          
          digitalWrite(1, HIGH);
          digitalWrite(2, HIGH);               
          digitalWrite(3, HIGH);
          delay(300);
          digitalWrite(7, LOW);
          digitalWrite(1, LOW);                                 
        }
        if (currentLine.endsWith("GET /A")) {
          digitalWrite(8, LOW);               // GET /A moves LEFT
          digitalWrite(7, HIGH);               
          digitalWrite(0, HIGH);          
          digitalWrite(1, LOW);
          digitalWrite(2, HIGH);               
          digitalWrite(3, HIGH);
          delay(300);
          digitalWrite(7, LOW);               
          digitalWrite(0, LOW);
        }
         if (currentLine.endsWith("GET /D")) {
          digitalWrite(8, HIGH);               // GET /D moves RIGHT
          digitalWrite(7, LOW);               
          digitalWrite(0, LOW);          
          digitalWrite(1, HIGH);
          digitalWrite(2, HIGH);               
          digitalWrite(3, HIGH);
          delay(300);
          digitalWrite(8, LOW);
          digitalWrite(1, LOW);                      
        }                                       
      }
    }
    // close the connection:
    client.stop();
    Serial.println("client disconnected");
  }
}

void printWifiStatus() {
  // print the SSID of the network you're attached to:
  Serial.print("SSID: ");
  Serial.println(WiFi.SSID());

  // print your WiFi shield's IP address:
  IPAddress ip = WiFi.localIP();
  Serial.print("IP Address: ");
  Serial.println(ip);

  // print the received signal strength:
  long rssi = WiFi.RSSI();
  Serial.print("signal strength (RSSI):");
  Serial.print(rssi);
  Serial.println(" dBm");
  // print where to go in a browser:
  Serial.print("To see this page in action, open a browser to http://");
  Serial.println(ip);
}

Source : Wifi Enabled 2/4 Wheeled Robot Platform Utilizing MKR1000

Wifi Enabled 2/4 Wheeled Robot Platform Utilizing MKR1000

Things used in this project

Hardware components

Hand tools and fabrication machines

Story

Schematics

MKR1000 and L298N interconnect

MKR1000 and L298N Demo Layout

Demo Circuit

Code

Revised MKR1000 WiFi Web Server code

SimpleWebServerWiFi_MKR1000_L298N_Control

MKR1000-SimpleWebServerDCMotorControl-version3

About The Author

Ibrar Ayyub

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