Small changes.

Found out that max pwm value is defined in Arduino.h as PWMRANGE, so I'm now using that.
Changed IP adress of serial server.
Changed left and right motor pins because of new wiring.

ros_diffdrive_robot.ino

@@ -42,8 +42,9 @@
 
 #define LED_BUILTIN 2 // Remapping the built-in LED since the NodeMcu apparently uses a different one.
 #define LED_BUILTIN_RED 16
-#define MAX_PWM 1023  // NOTE: Max PWM value on a NodeMcu is 1023, while on Arduino it's only 255.
-#define MIN_PWM 300   // The min amount of PWM the motors need to move. Depends on the battery, motors and controller.
+// The min amount of PWM the motors need to move. Depends on the battery, motors and controller.
+// The max amount is defined by PWMRANGE in Arduino.h
+#define PWM_MIN 300
 
 // Declare functions
 void setupPins();
@@ -54,24 +55,24 @@ void onTwist(const geometry_msgs::Twist &msg);
 float mapPwm(float x, float out_min, float out_max);
 
 // Pins
-const uint8_t L_PWM = D1;
-const uint8_t L_BACK = D2;
-const uint8_t L_FORW = D3;
-const uint8_t R_BACK = D5;
-const uint8_t R_FORW = D6;
-const uint8_t R_PWM = D7;
+const uint8_t R_PWM = D1;
+const uint8_t R_BACK = D2;
+const uint8_t R_FORW = D3;
+const uint8_t L_BACK = D5;
+const uint8_t L_FORW = D6;
+const uint8_t L_PWM = D7;
 
 // Wifi
 // If access point is defined, a Wifi network with this name will be created.
 // Remove if you want to connect to an existing network.
-#define ACCESS_POINT_SSID "SMARTCAR"
+//#define ACCESS_POINT_SSID "SMARTCAR"
 
 #ifndef ACCESS_POINT_SSID
 ESP8266WiFiMulti wifi;
 #endif
 
 // ROS serial server
-IPAddress server(192, 168, 4, 2);
+IPAddress server(192, 168, 0, 11);
 ros::NodeHandle node;
 ros::Subscriber<geometry_msgs::Twist> sub("/cmd_vel", &onTwist);
 
@@ -177,9 +178,9 @@ void onTwist(const geometry_msgs::Twist &msg)
   float l = (msg.linear.x - msg.angular.z) / 2;
   float r = (msg.linear.x + msg.angular.z) / 2;
 
-  // Then map those values to PWM intensities. MAX_PWM = full speed, while MIN_PWM = the minimal amount of power at which the motors begin moving.
-  uint16_t lPwm = mapPwm(fabs(l), MIN_PWM, MAX_PWM);
-  uint16_t rPwm = mapPwm(fabs(r), MIN_PWM, MAX_PWM);
+  // Then map those values to PWM intensities. PWMRANGE = full speed, while PWM_MIN = the minimal amount of power at which the motors begin moving.
+  uint16_t lPwm = mapPwm(fabs(l), PWM_MIN, PWMRANGE);
+  uint16_t rPwm = mapPwm(fabs(r), PWM_MIN, PWMRANGE);
 
   // Set direction pins and PWM
   digitalWrite(L_FORW, l > 0);