Esp8266MOD. With grove ic2 motor controller

I am very new to arduino so forgive the way I am going to phrase this question. I have a arduino uno with 2 grove i2c controllers hooked up to each other and it works great.

I need to link the controller to buttons on my iPhone so when I click the button, the motors start and stop.

I purchased a esp8266mod which has a Web server and WiFi, this is also working great if I only want to turn a light on and off. It appears to only have digital connections. The grove board uses analog connections. A0 A1

Any help in moving me in the right direction would be much appreciated.