For Player 1: W to go forward, S to go back, A and D to turn, and space to attack. For Player 2: Up Arrow to go forward, down arrow to go back, left and right arrows to turn, and l to attack. If everything you see is yellow, move out of the way!
Part 1 and Part 2 of @griffpatch's raycasting tutorials. You might need to go to turbowarp.org/662932796 because of lag.