Works:

• GY-91 through I2C: gyroscope + accelerometer
• Serial for external control
• I2C slave for external control
• Motors control

To-do:

• Wireless connection
• Position data handling - calibration, filtering, conversion in angles (?)
• PWM for motors GPIO
• RPM counts

Work in progress here: Feature/esp32 by an-dr · Pull Request #1 · an-dr/zakhar_platform