Insect Robot

I made this insect-like robot, after searching all over the web for any robot with WiFi controller

i've picked one piece of code here, other code over there and its no good... yet !!

i'm looking for help to improve the controlling !!

it works with HMTL, it generates on his IP adress after turning on, uses softwareserial to comunicate with the ESP, i've made for an Arduino Nano in first place, but... i dont know why it don't run... i tried a lot...

i want a way to controll on the smartphone, on the HMTL he execute half of the walking... it's frustrating !! :/

anyone can help me !?

//     *****UPDATE******

i've managed to get it walking, it was just a matter of timming... after a real good looking into it, i realizes that the refreshing rate of the displayed HTML on the browser was determined by the coding on the arduino, i just went to it and decreased the delay... a lot...

i want to improve his walking skills, if anyone likes it and have some ideas, please... be my guest !!!

cheers !