Ultrahangos, WiFi autó teljes kód:

#include <ESP8266WiFi.h>
// Add wifi access point credentiaals
const char* ssid     = "robotika";
const char* password = "Arduino!";
WiFiServer server(80);// Set port to 80
String header; // This storees the HTTP request
// Declare the pins to which the LEDs are connected
int AmotorPin = 5;
int BmotorPin = 4;
int AmotorDir = 0;
int BmotorDir = 2;

const int trigPin = 13;
const int echoPin = 15;
// defines variables
long duration;
int distance;

void setup() {
  Serial.begin(115200);
  pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output
  pinMode(echoPin, INPUT);
// Set the pinmode of the pins to which the LEDs are connected and turn them low to prevent flunctuations
  pinMode(AmotorPin, OUTPUT);
  pinMode(AmotorDir, OUTPUT);
  pinMode(BmotorPin, OUTPUT);
  pinMode(BmotorDir, OUTPUT);
  digitalWrite(AmotorPin, LOW);
  digitalWrite(AmotorDir, LOW);
  digitalWrite(BmotorPin, LOW);
  digitalWrite(BmotorDir, LOW);
  //connect to access point
  WiFi.begin(ssid, password);
  Serial.print("Connecting to ");
  Serial.println(ssid);
  while (WiFi.status() != WL_CONNECTED) {
    delay(500);
    Serial.print(".");
  }
  // Print local IP address and start web server
  Serial.println("");
  Serial.println("WiFi connected.");
  Serial.println("IP address: ");
  Serial.println(WiFi.localIP());// this will display the Ip address of the Pi which should be entered into your browser
  server.begin();
}
void loop(){
  WiFiClient client = server.available();   // Listen for incoming clients
  if (client) {                             // If a new client connects,
    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
        header += c;
        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("Connection: close");
            client.println();
           
            // turns the GPIOs on and off
            if (header.indexOf("GET /motor/elore") >= 0) {
              Serial.println("elore");
              digitalWrite(AmotorPin, HIGH);
              digitalWrite(BmotorPin, HIGH);
              digitalWrite(AmotorDir, HIGH);
              digitalWrite(BmotorDir, HIGH);
            } else if (header.indexOf("GET /motor/stop") >= 0) {
              Serial.println("stop");
              digitalWrite(AmotorPin, LOW);
              digitalWrite(BmotorPin, LOW);
              digitalWrite(AmotorDir, LOW);
              digitalWrite(BmotorDir, LOW);
            } else if (header.indexOf("GET /motor/hatra") >= 0) {
              Serial.println("hatra");
              digitalWrite(AmotorPin, HIGH);
              digitalWrite(BmotorPin, HIGH);
              digitalWrite(AmotorDir, LOW);
              digitalWrite(BmotorDir, LOW);
            } else if (header.indexOf("GET /motor/jobbra") >= 0) {
              Serial.println("jobbra");
              digitalWrite(AmotorPin, HIGH);
              digitalWrite(BmotorPin, HIGH);
              digitalWrite(AmotorDir, LOW);
              digitalWrite(BmotorDir, HIGH);
            } else if (header.indexOf("GET /motor/balra") >= 0) {
              Serial.println("balra");
              digitalWrite(AmotorPin, HIGH);
              digitalWrite(BmotorPin, HIGH);
              digitalWrite(AmotorDir, HIGH);
              digitalWrite(BmotorDir, LOW);
            }
       
            // Display the HTML web page
            client.print("Akadaly: ");
            client.print(distance); client.println(" cm");
           
                 
            // 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
        }
      }
    }
    // Clear the header variable
    header = "";
    // Close the connection
    client.stop();
    Serial.println("Client disconnected.");
    Serial.println("");
  }
  digitalWrite(trigPin, LOW);
delayMicroseconds(2);
// Sets the trigPin on HIGH state for 10 micro seconds
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
// Reads the echoPin, returns the sound wave travel time in microseconds
duration = pulseIn(echoPin, HIGH);
// Calculating the distance
distance= duration*0.034/2;
// Prints the distance on the Serial Monitor
Serial.print("Distance: ");
Serial.println(distance);

}