diff --git a/README.md b/README.md
index 1423999..cfaa7b6 100644
--- a/README.md
+++ b/README.md
@@ -69,4 +69,37 @@ The final version of the magnetometer uses a **moving average filter** to smooth
 
 ## Barcode (Line) Sensor
 
+
 ## WiFi (Web Server) Module
+
+The WiFi (Web Server) Module within this project integrates Server-Side Includes (SSI) and Common Gateway Interface (CGI) handlers from the lwIP library, facilitating a web interface to display information and receive controls from a webpage.
+
+### Components Overview
+
+1. **[frontend.h](frtos/frontend/frontend.h):** This component initializes and manages the web server frontend. It establishes the initial connection to the WiFi network using environment variables such as WIFI_SSID and WIFI_PASSWORD.
+
+2. **[html_files](frtos/frontend/html_files):** This directory contains HTML files used for the web server display. These files are linked into lwIP to enable server-side processing and rendering.
+
+3. **[ssi.h](frtos/frontend/ssi.h):** Handles Server-Side Includes (SSI), which dynamically inserts content into web pages, allowing the display of real-time or changing information.
+
+4. **[cgi.h](frtos/frontend/cgi.h):** Manages Common Gateway Interface (CGI) handlers, enabling the reception of controls and user interactions from the web interface.
+
+5. **makefsdata Utility:** This tool generates `htmldata.c` by converting HTML files into hexadecimal representation to link them into lwIP. It involves converting filenames into hex, defining HTTP headers for file extensions, and converting HTML content into a hex array for efficient storage and retrieval.
+
+    - **Automatic Generation of htmldata.c:**
+        - `makefsdata.c` creates `makefsdata.exe` automatically upon build, as specified in `CMakeLists.txt`.
+        - `makefsdata.exe` in turn generates `htmldata.c`, which links the HTML pages to lwIP for server-side processing, enabling seamless integration of web content.
+
+### Functionality and Implementation Details
+
+The WiFi (Web Server) Module offers the following functionalities:
+
+- **Dynamic Content Display:** SSI allows the server to include dynamic content in web pages, facilitating real-time updates or information display.
+
+- **User Interaction Handling:** CGI enables the server to process user interactions received from the web interface, enabling control and interaction with the Pico-based car.
+
+- **WiFi Connectivity:** `frontend.h` establishes a connection to the designated WiFi network using the environment variables WIFI_SSID and WIFI_PASSWORD. This connection is essential for enabling communication between the Pico device and the network.
+
+
+The integration of SSI, CGI, and the makefsdata tool empowers the WiFi (Web Server) Module to provide a user-friendly interface for monitoring and controlling the Pico-based car within the defined network environment.
+
diff --git a/frtos/CMakeLists.txt b/frtos/CMakeLists.txt
index 28447a9..3df3d1e 100644
--- a/frtos/CMakeLists.txt
+++ b/frtos/CMakeLists.txt
@@ -33,6 +33,7 @@ target_link_libraries(rtos_car
         hardware_adc
         hardware_pwm
         hardware_i2c
+        pico_lwip_http
 )
 pico_enable_stdio_usb(rtos_car 1)
 pico_add_extra_outputs(rtos_car)
diff --git a/frtos/frontend/CMakeLists.txt b/frtos/frontend/CMakeLists.txt
index dd2581c..55a3c4b 100644
--- a/frtos/frontend/CMakeLists.txt
+++ b/frtos/frontend/CMakeLists.txt
@@ -28,5 +28,10 @@ target_include_directories(frontend PRIVATE
         ${CMAKE_CURRENT_LIST_DIR}
         )
 
+target_compile_definitions(frontend PRIVATE
+        WIFI_SSID=\"${WIFI_SSID}\"
+        WIFI_PASSWORD=\"${WIFI_PASSWORD}\"
+)
+
 pico_enable_stdio_usb(frontend 1)
 pico_add_extra_outputs(frontend)
\ No newline at end of file
diff --git a/frtos/frontend/cgi.h b/frtos/frontend/cgi.h
index 39a9f99..be28eac 100644
--- a/frtos/frontend/cgi.h
+++ b/frtos/frontend/cgi.h
@@ -2,6 +2,8 @@
 #include "pico/cyw43_arch.h"
 #include "stdio.h"
 
+#include "car_config.h"
+
 // CGI handler for start/stop car
 const char * cgi_status_handler(int iIndex, int iNumParams, char *pcParam[], char *pcValue[])
 {
@@ -12,9 +14,17 @@ const char * cgi_status_handler(int iIndex, int iNumParams, char *pcParam[], cha
         if(strcmp(pcValue[0], "0") == 0){
             cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, 0);
             printf("CAR STOP"); // call car stop func
+            /*
+            set_wheel_direction(DIRECTION_MASK);
+            set_wheel_speed_synced(0u, car_struct);
+            */
         }else if(strcmp(pcValue[0], "1") == 0){
             cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, 1);
             printf("CAR START"); // call car start func
+            /*
+            set_wheel_direction(DIRECTION_FORWARD);
+            set_wheel_speed_synced(90u, car_struct);
+            */
         }
     }
     
@@ -54,7 +64,8 @@ static const tCGI cgi_handlers[] = {
     },
 };
 
-void cgi_init(void)
-{
+void cgi_init(void *params)
+{   
+    car_struct_t *car_struct = (car_struct_t *)params;
     http_set_cgi_handlers(cgi_handlers, 2);
 }
\ No newline at end of file
diff --git a/frtos/frontend/frontend.c b/frtos/frontend/frontend.c
index f58a485..797fc33 100644
--- a/frtos/frontend/frontend.c
+++ b/frtos/frontend/frontend.c
@@ -1,71 +1,23 @@
-#include "lwip/apps/httpd.h"
 #include "pico/stdlib.h"
-#include "pico/cyw43_arch.h"
-#include "lwipopts.h"
-#include "ssi.h"
-#include "cgi.h"
-#include "FreeRTOS.h"
-#include "task.h"
 
-// WIFI Credentials - take care if pushing to GitHub!
-const char WIFI_SSID[] = "XXX";
-const char WIFI_PASSWORD[] = "XXX";
+#include "frontend.h"
+#include "car_config.h"
 
-void print_ip_address() {
-    struct netif *netif = netif_list;
-    while (netif != NULL) {
-        if (netif_is_up(netif)) {
-            printf("IP Address: %s\n", ipaddr_ntoa(&(netif->ip_addr)));
-        }
-        netif = netif->next;
-    }
-}
-
-static void webserver_run(){
-    // Initialize web server
-    httpd_init();
-    printf("Http server initialized\n");
-
-    // Configure SSI and CGI handler
-    ssi_init();
-    printf("SSI Handler initialized\n");
-    cgi_init();
-    printf("CGI Handler initialized\n");
-
-    // Infinite loop
-    while (1) {
-        // Add any required delay or use other FreeRTOS features here if needed
-        vTaskDelay(pdMS_TO_TICKS(1000));
-    }
-}
-static void webserver_task(){
-    if (cyw43_arch_init())
-    {
-        printf("failed to initialise\n");
-        return;
-    }
- 
-    cyw43_arch_enable_sta_mode();
- 
-    printf("Connecting to WiFi...\n");
- 
-    // Connect to the WiFI network - loop until connected
-    while (cyw43_arch_wifi_connect_timeout_ms(WIFI_SSID, WIFI_PASSWORD, CYW43_AUTH_WPA2_AES_PSK, 30000) != 0) {
-        printf("Attempting to connect...\n");
-    }
-    // Print a success message once connected
-    printf("Connected! \n");
-    print_ip_address();
-
-    webserver_run();
-    cyw43_arch_deinit();
-}
 int main() {
     stdio_init_all();
 
-    // Create the FreeRTOS task for the web server
-    TaskHandle_t task_handle;
-    xTaskCreate(webserver_task, "WebServerTask", configMINIMAL_STACK_SIZE, NULL, 1, &task_handle);
+    obs_t obs;
+    motor_t     motor_right;
+    motor_t     motor_left;
+    motor_pid_t pid;
+
+    car_struct_t car_struct = { .p_right_motor = &motor_right,
+                                .p_left_motor  = &motor_left,
+                                .p_pid         = &pid,
+                                .obs = &obs};
+
+    webserver_init(&car_struct); //to test webserver only, remove car_struct from all frontend files
+    
     
     // Start the FreeRTOS scheduler
     vTaskStartScheduler();
diff --git a/frtos/frontend/frontend.h b/frtos/frontend/frontend.h
new file mode 100644
index 0000000..245298d
--- /dev/null
+++ b/frtos/frontend/frontend.h
@@ -0,0 +1,75 @@
+#include "lwip/apps/httpd.h"
+#include "pico/stdlib.h"
+#include "pico/cyw43_arch.h"
+#include "lwipopts.h"
+#include "ssi.h"
+#include "cgi.h"
+#include "FreeRTOS.h"
+#include "task.h"
+
+#include "car_config.h"
+
+// print assigned ip addr
+void print_ip_address() {
+    struct netif *netif = netif_list;
+    while (netif != NULL) {
+        if (netif_is_up(netif)) {
+            printf("IP Address: %s\n", ipaddr_ntoa(&(netif->ip_addr)));
+        }
+        netif = netif->next;
+    }
+}
+
+// initializes server and handlers
+static void webserver_run(void *params){
+    car_struct_t *car_struct = (car_struct_t *)params;
+
+    // Initialize web server
+    httpd_init();
+    printf("Http server initialized\n");
+
+    // Configure SSI and CGI handler
+    ssi_init(&car_struct);
+    printf("SSI Handler initialized\n");
+    cgi_init(&car_struct);
+    printf("CGI Handler initialized\n");
+
+    // Infinite loop
+    while (1) {
+        // Add any required delay or use other FreeRTOS features here if needed
+        vTaskDelay(pdMS_TO_TICKS(1000));
+    }
+}
+// webserver task connect wifi & start webserver_run
+static void webserver_task(void *params){
+    car_struct_t *car_struct = (car_struct_t *)params;
+    if (cyw43_arch_init())
+    {
+        printf("failed to initialise\n");
+        return;
+    }
+ 
+    cyw43_arch_enable_sta_mode();
+ 
+    printf("Connecting to WiFi...\n");
+ 
+    // Connect to the WiFI network - loop until connected
+    while (cyw43_arch_wifi_connect_timeout_ms(WIFI_SSID, WIFI_PASSWORD, CYW43_AUTH_WPA2_AES_PSK, 30000) != 0) {
+        printf("Attempting to connect...\n");
+    }
+    // Print a success message once connected
+    printf("Connected! \n");
+    print_ip_address();
+
+    webserver_run(&car_struct);
+    cyw43_arch_deinit();
+}
+
+// frontend initialize - create task
+void webserver_init(void *params)
+{
+    car_struct_t *car_struct = (car_struct_t *)params;
+    // Create the FreeRTOS task for the web server
+    TaskHandle_t task_handle;
+    xTaskCreate(webserver_task, "WebServerTask", configMINIMAL_STACK_SIZE, (void *)&car_struct, 1, &task_handle);
+}
\ No newline at end of file
diff --git a/frtos/frontend/html_files/index.shtml b/frtos/frontend/html_files/index.shtml
index a30f9a3..25cadf9 100644
--- a/frtos/frontend/html_files/index.shtml
+++ b/frtos/frontend/html_files/index.shtml
@@ -54,6 +54,11 @@
             margin-top: 20px;
         }
 
+        .obstacle-output {
+            font-size: 24px;
+            margin-top: 20px;
+        }
+
         .orientation-output {
             font-size: 24px;
             margin-top: 20px;
@@ -92,6 +97,9 @@
         <div class="pid-output">
             <p>PID Controller Output: <!--#pid--></p>
         </div>
+        <div class="obstacle-output">
+            <p>Obstacle: <!--#obstacle--></p>
+        </div>
         <div class="orientation-output">
             <p>Orientation: <!--#orient--></p>
         </div>
diff --git a/frtos/frontend/htmldata.c b/frtos/frontend/htmldata.c
index 8faf14a..26b4f05 100644
--- a/frtos/frontend/htmldata.c
+++ b/frtos/frontend/htmldata.c
@@ -125,258 +125,279 @@ static const unsigned char data_index_shtml[] = {
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 	0x0A, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x7D, 
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+	};
 
 const struct fsdata_file file_index_shtml[] = {{ NULL, data_index_shtml, data_index_shtml + 13, sizeof(data_index_shtml) - 13, FS_FILE_FLAGS_HEADER_INCLUDED | FS_FILE_FLAGS_HEADER_PERSISTENT }};
 
diff --git a/frtos/frontend/makefsdata.exe b/frtos/frontend/makefsdata.exe
index 30f333c..f242e1f 100644
Binary files a/frtos/frontend/makefsdata.exe and b/frtos/frontend/makefsdata.exe differ
diff --git a/frtos/frontend/ssi.h b/frtos/frontend/ssi.h
index df1e5b0..1de109e 100644
--- a/frtos/frontend/ssi.h
+++ b/frtos/frontend/ssi.h
@@ -3,8 +3,11 @@
 #include "hardware/adc.h"
 #include "pico/stdlib.h"
 
+#include "car_config.h"
+car_struct_t *car_struct;
+
 // SSI tags - tag length limited to 8 bytes by default
-const char * ssi_tags[] = {"speed","barcode","pid","orient"};
+const char * ssi_tags[] = {"speed","barcode","pid","obstacle","orient"};
 
 u16_t ssi_handler(int iIndex, char *pcInsert, int iInsertLen) {
   size_t printed;
@@ -12,8 +15,15 @@ u16_t ssi_handler(int iIndex, char *pcInsert, int iInsertLen) {
   case 0: // Speed
     {
       // call getSpeed() function
-      const float Speed = adc_read() * 3.3f / (1 << 12);
-      printed = snprintf(pcInsert, iInsertLen, "%f ",Speed);
+
+      /*
+      const float c_speed = car_struct->p_right_motor->speed.current_cms;
+      printf("\n\t%f\n",c_speed);
+      printed = snprintf(pcInsert, iInsertLen, "%f ",c_speed);
+      */
+
+      const float speed = adc_read() * 3.3f / (1 << 12);
+      printed = snprintf(pcInsert, iInsertLen, "%f ",speed);
     }
     break;
   case 1: // barcode
@@ -25,15 +35,32 @@ u16_t ssi_handler(int iIndex, char *pcInsert, int iInsertLen) {
     break;
   case 2: //PID
     {
-      // whatever to display for PID  
-      const char* PID = "54"  ;  
+      // whatever to display for PID
+      const char* PID = "-"  ;  
       printed = snprintf(pcInsert, iInsertLen, "%s", PID);
     }
     break;
-    case 3: //Orientation
+  case 3: //Obstacle detected
+    {
+      // call getObstacleDetected() function
+
+      /*
+      bool obstacle = car_struct->obs->ultrasonic_detected;
+      if (obstacle){
+        printed = snprintf(pcInsert, iInsertLen, "%s", "YES");
+      }
+      else{
+        printed = snprintf(pcInsert, iInsertLen, "%s", "NO");
+      }
+      */
+
+      printed = snprintf(pcInsert, iInsertLen, "%s", "YES");
+    }
+  case 4: //Orientation
     {
       // call getOrientation() function
-      const char* orien = "South"  ;  
+
+      const char* orien = "South";  
       printed = snprintf(pcInsert, iInsertLen, "%s", orien);
     }
     break;
@@ -46,7 +73,10 @@ u16_t ssi_handler(int iIndex, char *pcInsert, int iInsertLen) {
 }
 
 // Initialise the SSI handler
-void ssi_init() {
+void ssi_init(void *params) {
+
+  car_struct = (car_struct_t *)params;
+  
   // Initialise ADC (internal pin)
   adc_init();
   adc_set_temp_sensor_enabled(true);
diff --git a/frtos/rtos_car.c b/frtos/rtos_car.c
index 7eed31d..2798bb6 100644
--- a/frtos/rtos_car.c
+++ b/frtos/rtos_car.c
@@ -3,6 +3,7 @@
 #include "ultrasonic_sensor.h"
 #include "car_config.h"
 #include "motor_init.h"
+#include "frontend.h"
 
 /*!
  * @brief Check if the car is on the line
@@ -151,6 +152,9 @@ main(void)
                                 .obs           = &obs,
                                 .p_direction   = &direction };
 
+    // webserver frontend
+    webserver_init(&car_struct);
+
     // Magnetometer
     magnetometer_init(&car_struct);
 //        magnetometer_tasks_init(&car_struct);