   Stop();
   //motors.setTrim(1.0,0.8); // this setting is optional, it compensates for speed difference of motors eg (0.95,1.0), and it can reduce maximum speed of both eg (0.75,0.75);
   motors.setSteeringSensitivity(0.25); // this setting is optional
-  motors.setPWMFrequency(15000);// this setting is optional, depending on power supply and H-Bridge this option will alter motor noise and torque.
-  motors.setMinimumSpeed(0.06);// this setting is optional, default is 0.1(10%) to prevent motor from stalling at low speed
+  //motors.setPWMFrequency(50);// this setting is optional, depending on power supply and H-Bridge this option will alter motor noise and torque.
+  //motors.setMinimumSpeed(0.05);// this setting is optional, default is 0.1(10%) to prevent motor from stalling at low speed
 }
 
 void loop()

   WiFiClient client = server.available();
  if (!client)
  {
          return;
  }
  // Read the first line of the request
  String req = client.readStringUntil('\r');

  IPAddress subnet(255, 255, 255, 0);
  IPAddress apIP(192, 168, 1, 1);
  WiFi.softAPConfig(apIP, apIP, subnet);
  if (enableCompatibilityMode){
    wifi_set_phy_mode(PHY_MODE_11B); // Note: ESP8266 soft-AP only support bg.
    char *pw = "";
    WiFi.softAP(AP_NameChar, pw , channel , 0 );
  }else{
    wifi_set_phy_mode(PHY_MODE_11N);
    WiFi.softAP(AP_NameChar, password , channel , 0 );
  }
  dnsServer.setErrorReplyCode(DNSReplyCode::NoError);
  dnsServer.start(DNS_PORT, "FHTbot.com", apIP);//must use '.com, .org etc..' and cant use '@ or _ etc...' ! . Use "*" to divert all **VALID** names
  server.begin();
  
  WiFi.printDiag(Serial);
}

void initHardware()
