Alternative Form of Automatic Braking -Stop Motors on EEE Bot 2

#include <ESP32Encoder.h>
#include <WiFi.h>
#include <PubSubClient.h>

// WiFi and MQTT details
const char* ssid = "Issacb20";
const char* password = "electricalengineering";
const char* mqtt_server = "B01-20.local";

WiFiClient espClient;
PubSubClient client(espClient);

#define enA 33  //EnableA command line
#define enB 25  //EnableA command line

#define INa 26  //Channel A Direction
#define INb 27  //Channel A Direction
#define INc 14  //Channel B Direction
#define INd 12  //Channel B Direction

byte speedSetting = 200;   //initial speed = 0
byte speedRampFlag = 1;  //define a direction controller for the loop
byte changeDirection = 0;

// setting PWM properties
const int freq = 2000;
const int servoFrequency = 50;
const int ledChannela = 0;
const int ledChannelb = 1;
const int servoChannel = 2;
const int resolution = 8;
const int servoResolution = 12;

int servoPin = 13;
float steeringAngle;  // variable to store the servo position

void setup() {
  // put your setup code here, to run once:

  pinMode(INa, OUTPUT);
  pinMode(INb, OUTPUT);
  pinMode(INc, OUTPUT);
  pinMode(INd, OUTPUT);

  // configure LED PWM functionalitites
  ledcSetup(ledChannela, freq, resolution);
  ledcSetup(ledChannelb, freq, resolution);
  ledcSetup(servoChannel, servoFrequency, servoResolution); //servo setup on PWM2, 50Hz, 12-bit (0-4096)

  //attach the channel to the GPIO to be controlled
  ledcAttachPin(enA, ledChannela);
  ledcAttachPin(enB, ledChannelb);
  ledcAttachPin(servoPin, servoChannel);

  //initialise Serial Communication
  Serial.begin(9600);


  // Connect to WiFi
  WiFi.begin(ssid, password);
  while (WiFi.status() != WL_CONNECTED) {
    delay(500);
    Serial.println("WIFI not connected");
  }
  Serial.println("WIFI connected");

  // Connect to MQTT
  client.setServer(mqtt_server, 1883);
  client.setCallback(callback);
  while (!client.connected()) {
    if (client.connect("ESP32Client")) {
      Serial.println("Trying to connect to MQTT Server");
    } else {
      delay(5000);
      Serial.println("Could not connect. Connection retrying ...");
    }
  }
  client.subscribe("esp32/stopmotors");
}
void reconnect() {
  // loop until we're reconnected
  while (!client.connected()) {
    Serial.print("Attempting MQTT connection...");
    // attempt to connect
    if (client.connect("ESP8266Client")) {
      Serial.println("connected");
      // subscribe
      client.subscribe("esp32/stopmotors");
    } else {
      Serial.print("failed, rc=");
      Serial.print(client.state());
      Serial.println(" try again in 5 seconds");
      // wait 5 seconds before retrying
      delay(5000);
    }
  }
}

void motors(int leftSpeed, int rightSpeed) {
  //set individual motor speed
  //direction is set separately

  ledcWrite(ledChannela, leftSpeed);
  ledcWrite(ledChannelb, rightSpeed);

  delay(25);
}

void goForwards() {
  //direction is set to 0
  digitalWrite(INa, HIGH);
  digitalWrite(INb, LOW);
  digitalWrite(INc, HIGH);
  digitalWrite(INd, LOW);
}

void goBackwards() {
  //direction is set to 1
  digitalWrite(INa, LOW);
  digitalWrite(INb, HIGH);
  digitalWrite(INc, LOW);
  digitalWrite(INd, HIGH);
}

void stopMotors() {
  //stop both motors
  digitalWrite(INa, LOW);
  digitalWrite(INb, LOW);
  digitalWrite(INc, LOW);
  digitalWrite(INd, LOW);
}
void loop() {
  if (!client.connected()) {
    reconnect();
  }
  client.loop();

      goForwards();
      motors(150,150);
      Serial.println("Going forwards");
}

void callback(char* topic, byte* message, unsigned int length) {
  String messageTemp;

  for (int i = 0; i < length; i++) {
    messageTemp += (char)message[i];
  }

  if (String(topic) == "esp32/stopmotors") {
     if(messageTemp=="stop_car_B")
        {
          stopMotors();
          motors(0,0);
        }

    }


  }