modified version of https://automatedhome.party/2017/07/15/wifi-controlled-car-with-a-self-hosted-htmljs-joystick-using-a-wemos-d1-miniesp8266/ Also added ultrasonic sensor. OTA also added, simply open this link to update firmware if needed after first load, http://192.168.4.1/update there may be few extra header files in code, you can remove yourself. Demo: https://www.youtube.com/watch?v=sfO7whYDyD8