motorcycle control

// Pin number --> neopixel led 13/ servo 5/ motor 4,15
// Range --> motor 1000~2000 / Servo 60~120 degree

#include <ESP8266WiFi.h>
#include <WiFiClient.h>
#include <Servo.h>
#include "Adafruit_NeoPixel.h"
                                                                                                                                                                
#define motor_d1 4
#define motor_d2 15
#define led_lighting 13
#define led_num 1
#define servo_streeing 5

Adafruit_NeoPixel lighting = Adafruit_NeoPixel(led_num, led_lighting, NEO_GRB + NEO_KHZ800);

const char *ssid = "xxxxxxxxxxx";<--------   here is my ssid 
const char *pw = "xxxxxxxxx"; <---------- here is my password   
IPAddress ip(192, 168, 0, xxx);<--------- here is my IP that the router grants 
IPAddress netmask(255, 255, 255, 0);
const int port = 9876;

int led_state;
int motor_speed = 0;
int servo_angle = 0;
int val_motor;

char cmd[100];
int cmdIndex = 0;

WiFiServer server(port);
WiFiClient client;

Servo handle;

void setup() {
    pinMode(motor_d1, OUTPUT);
    pinMode(motor_d2, OUTPUT);
    pinMode(led_lighting, OUTPUT);

    analogWrite(motor_d1, 0);
    analogWrite(motor_d2, 0);

    handle.attach(servo_streeing);
    // handle.write(50);

    lighting.begin(); 
    lighting.setBrightness(100);
    lighting.setPixelColor(0, 0, 0, 0);
    lighting.show(); 

    WiFi.softAPConfig(ip, ip, netmask);
    WiFi.softAP(ssid, pw);

    server.begin();
    Serial.begin(115200);
}

boolean cmdStartsWith(const char *st) {
    for (int i = 0;; i++) {
        if (st[i] == 0) return true;
        if (cmd[i] == 0) return false;
        if (cmd[i] != st[i]) return false;
    }
    return false;
}

void exeCmd() {

    if(cmdStartsWith("th") ) {
    motor_speed = atoi(cmd+3);
    }

    if(motor_speed>1500) {  
       val_motor = map(motor_speed, 1500, 2000, 0, 1023);       
       analogWrite(motor_d2, val_motor);
//       Serial.print("th 1500 > ");
//       Serial.println(val_motor);     
    }
    if(motor_speed<1500) {  
       val_motor = map(motor_speed, 1500, 1000, 0, 1023);       
       analogWrite(motor_d1, val_motor);
//       Serial.print("th 1500 < ");
//       Serial.println(val_motor);  
    }
    if(motor_speed == 1500 ) {
      analogWrite(motor_d1, 0);
      analogWrite(motor_d2, 0);
    }

    if (cmdStartsWith("st") ) {
    servo_angle = atoi(cmd+3);
    handle.write(servo_angle);
//    Serial.println(servo_angle);
    }

    if (cmdStartsWith("w")) {
        led_state = (led_state == LOW) ? HIGH : LOW;
        if(led_state == HIGH) {
          lighting.setPixelColor(0, 255, 255, 255);
          lighting.show(); 
        } else{
          lighting.setPixelColor(0, 0, 0, 0);
          lighting.show(); 
        }
    }
}

void loop() {
    if (!client.connected()) {
        client = server.available();
        return;
    }

    if (client.available()) {
        char c = (char)client.read();

        if (c == '\n') {
            cmd[cmdIndex] = 0;
            exeCmd();
            cmdIndex = 0;
        } else {
            cmd[cmdIndex] = c;
            if (cmdIndex < 99) cmdIndex++;
        }
    }
}