Arduino Blynk Autonomous Buggy!

This is a little buggy I made the uses a Arduino Mega, a custom shield i made for the ESP8266, and the motor shield v1.0. It also uses 2x IR detectors and a Ultrasonic ranger. Its powered by a 11.1 3S 5500mah drone battery so lasts a long time. The front "wheel" is a roller taken off a old Roomba. It uses the blynk app for manual control as well as setting the options for "auto roaming" mode. It basically randomly moves around and avoids objects. if you want a copy of the arduino sketch I a