How to control two low rpm motors over a wireless link ?

[glpy]

I want to build a small surface device using two 30 rpm motors and a Raspberry Pi Zero W.

The requirements are the following:

1) 2-motor steering
2) Go forward/backward
3) Pivot (rotate on its own central axis)

What kind of app/library can I use to remote control the motors over a wireless link ?

Considering the motor low rotation speed, I can do without an ESC ?

PS: I'm looking for something easy to use for a beginner in the world of electronics.

[joan]

I guess these are ordinary DC motors. You need a motor driver board which you can get from eBay for a couple of UK pounds. Look for a L9110S or L298N based board depending on the power requirements of your motors. Each board can generally drive two DC motors.

The motor driver board will let you drive each motor independently in forward/reverse or off.

Typically you will need two spare GPIO per motor.

You can control motor speed by using PWM on the GPIO (rapidly switching the motor on/off).

[glpy]

I guess these are ordinary DC motors.

Yes, motor like this and this

You need a motor driver board which you can get from eBay for a couple of UK pounds. Look for a L9110S or L298N based board depending on the power requirements of your motors. Each board can generally drive two DC motors.

Considering the space constraints of my project, probably this is better and comes with its own library.

The motor driver board will let you drive each motor independently in forward/reverse or off.
Typically you will need two spare GPIO per motor.
You can control motor speed by using PWM on the GPIO (rapidly switching the motor on/off).

OK, probably what I need now is some Raspberry Pi rc car controller app like this or this

Writing the code to control the device or an app is beyond what I need now.