Hi. The arduino board uses the millis () function, using Timer 0.The ESP32 board has two timer group, each one with 2 timers (Timer Group 1: TIMER 0 - TIMER 1, Timer Group 2: TIMER 2- TIMER 3). The question is what timers are used when using the following commands (ARDUINO IDE) ? a) esp_timer_get_ti...

I am trying to make a PID Controller for a Gimbal 2DOF (Here is the Gimbal I am using: https://i5.walmartimages.com/asr/0c3e2526-d29f-4503-9ffa-41d7e81448e9_1.1e442c2b6975f45507cce1ab828ae056.jpeg?odnWidth=612&odnHeight=612&odnBg=ffffff) . I am meassuere the angle with a MPU6050 via I2C (Wire). To c...