Connections to ESP8266

Code:

// ESP8266 Line Follower Robot Code

#define enB 5 //Enable2 L298 Pin enB 
#define in4 4 //Motor2  L298 Pin in1 
#define in3 0 //Motor2  L298 Pin in1 

#define in2 2 //Motor1  L298 Pin in1 
#define in1 14 //Motor1  L298 Pin in1 
#define enA 12 //Enable1 L298 Pin enA

#define R_S 13 //ir sensor Right
#define L_S 3  //ir sensor Left

void setup(){ 

pinMode(R_S, INPUT); 

pinMode(L_S, INPUT); 

pinMode(enA, OUTPUT); 

pinMode(in1, OUTPUT); 

pinMode(in2, OUTPUT); 

pinMode(in3, OUTPUT); 

pinMode(in4, OUTPUT); 

pinMode(enB, OUTPUT);

digitalWrite(enA, HIGH); 

digitalWrite(enB, HIGH); 

delay(1000);

}

void loop(){  

if((digitalRead(R_S) == 0)&&(digitalRead(L_S) == 0)){forward();}   //if Right Sensor and Left Sensor are at White color then it will call forword function

if((digitalRead(R_S) == 1)&&(digitalRead(L_S) == 0)){turnRight();} //if Right Sensor is Black and Left Sensor is White then it will call turn Right function  

if((digitalRead(R_S) == 0)&&(digitalRead(L_S) == 1)){turnLeft();}  //if Right Sensor is White and Left Sensor is Black then it will call turn Left function

if((digitalRead(R_S) == 1)&&(digitalRead(L_S) == 1)){Stop();} //if Right Sensor and Left Sensor are at Black color then it will call Stop function

}

void forward(){  //forword

digitalWrite(in1, HIGH); //Right Motor forword Pin 
digitalWrite(in2, LOW);  //Right Motor backword Pin 
digitalWrite(in3, LOW);  //Left Motor backword Pin 
digitalWrite(in4, HIGH); //Left Motor forword Pin 

}

void turnRight(){ //turnRight

digitalWrite(in1, LOW);  //Right Motor forword Pin 
digitalWrite(in2, HIGH); //Right Motor backword Pin  
digitalWrite(in3, LOW);  //Left Motor backword Pin 
digitalWrite(in4, HIGH); //Left Motor forword Pin 

}

void turnLeft(){ //turnLeft

digitalWrite(in1, HIGH); //Right Motor forword Pin 
digitalWrite(in2, LOW);  //Right Motor backword Pin 
digitalWrite(in3, HIGH); //Left Motor backword Pin 
digitalWrite(in4, LOW);  //Left Motor forword Pin 

}

void Stop(){ //stop

digitalWrite(in1, LOW); //Right Motor forword Pin 
digitalWrite(in2, LOW); //Right Motor backword Pin 
digitalWrite(in3, LOW); //Left Motor backword Pin 
digitalWrite(in4, LOW); //Left Motor forword Pin 

}