Works:

• GY-91 through I2C: gyroscope + accelerometer
• Serial for external control
• I2C slave for external control
• Wireless connection - Bluetooth serial port
• Motors control
• PWM for motors - three speeds
• RPM counts. (BTW the motors have different speed as it turned out 😕)

To-do:

• Position data handling - calibration, filtering, conversion in angles (?)
• Code refactoring and configuration with menuconfig

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