Here's a list of steps/readings I suggest you do:
1. First thing to do is to get a development board and follow the
getting started guide. This should guide you through installing all the tools required to compile and flash programs for an ESP32. At the end of the guide, you should be able to flash the
Hello World.
If you're not already familiar with the basics Git (e.g. cloning a repo, checking out a particular branch or release), it may also be a good idea the basics of
Git.
2. A large part of ESP-IDF is built on top of
FreeRTOS, therefore learning the basics of FreeRTOS is a must. There's the
Mastering FreeRTOS book if you want a beginner friendly introduction to FreeRTOS. At minimum, you should aim to understand what
FreeRTOS tasks are, how
FreeRTOS schedules tasks, and how tasks can communicate with each other (e.g.
Queues and semaphores). Try modifying the Hello World example in ESP-IDF to run multiple tasks and inter-communicate.
To control a servo motor via a bluetooth pairing, I would split this into two parts
3. Controlling the servo motors. Most servos are controlled using a PWM, so I suggest you take a look at the
LED PWM example (
docs here), and the
MCPWM examples (
docs here)
4. For bluetooth pairing, it depends on whether you plan to use BT classic or BLE. But a numerous examples demonstrate the pairing process (refer to these
search results).