I think what you want in arduino, given that you're missing a ton of code that explains what the variables are, is this...

 } else if (cmd == CmdOurCustomCmds) {

    Write16(AngleZ);
    Write16(AngleY);
    Write16(AngleX);
    Write16(servoRvalue);
    Write16(servoPvalue);
    Write16(servoYvalue);
}

And in C# would be...

void readValues() {

      try {

        var response = EZBManager.EZBs[0].SendCommandData(12, 0x00);

        UInt16 AngleZ = BitConverter.ToUInt16(response, 0);
        UInt16 AngleY = BitConverter.ToUInt16(response, 2);
        UInt16 AngleX = BitConverter.ToUInt16(response, 4);
        UInt16 servoRvalue = BitConverter.ToUInt16(response, 6);
        UInt16 servoPvalue = BitConverter.ToUInt16(response, 8);
        UInt16 servoYvalue = BitConverter.ToUInt16(response, 10);

        ARC.Scripting.VariableManager.SetVariable("$AngleZ", AngleZ);
        ARC.Scripting.VariableManager.SetVariable("$AngleY", AngleY);
        ARC.Scripting.VariableManager.SetVariable("$AngleX", AngleX);
        ARC.Scripting.VariableManager.SetVariable("$servoRvalue", servoRvalue);
        ARC.Scripting.VariableManager.SetVariable("$servoPvalue", servoPvalue);
        ARC.Scripting.VariableManager.SetVariable("$servoYvalue", servoYvalue);

        if (Invokers.GetCheckedValue(cbDebug))
          Invokers.SetAppendText(textBox1, true, "AngleZ: {0}, AngleY: {1}", AngleZ, AngleY ............................);
      } catch (Exception ex) {

        Invokers.SetAppendText(textBox1, true, ex.ToString());
      }
    }

@ DJ,  The ESP32 is a wifi based EZB using this modified firmware so it has all those feature plus the MPU6050 code.  My goal is to find the easiest way to get those MPU6050 values back to ARC as global var's so I can use them in other ARC skills.  My understanding reading another post here the ARC polls the EZB firmware so I figured I would add the MPU6050 processing as part of that control loop.  But please if there is another way please help me because I really need to be able to get these MPU values back to ARC.

I gave you examples above. Also there's this example in the support section: https://synthiam.com/Support/Create-Robot-Skill/Examples/extend-ezb-protocol-with-custom-command

DJ,  Thank you! I will review what you posted and also try to answer your above questions.  The code I posted was just a draft based on other code I found,  the ??? we’re just place holders.

I don’t have access to the Arduino code right now but if I remember right those values are unsigned int and int.

Update below:

int AngleX;
int AngleY;
int AngleZ;
unsigned int servoYvalue;
unsigned int servoPvalue;
unsigned int servoRvalue;

DJ,  I know your busy but if you get a free min can you review this code and let me know if this ok?

EZ_ESP32_MPU6050.zip

The data from the compass is a float

float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector

which you're assigning to an unsigned int. I assume the unsigned int of esp32 is 16 bit

      AngleZ=ypr[0];
      AngleY=ypr[1];
      AngleX=ypr[2];

Without knowing what that data from the mpu is, you will have to convert it to an int. The project as is will work, but the value will be truncated from a float to an int. So if it's a floating point between -1 and 1, you will only get a -1, 0, or 1. You can always multiply the float by 100 or 1000 to get an int and remove the decimal.

Float over serial is difficult, doubly so between cpus (esp vs x86). They're not compatible, so you'd need to either multiple before sending and divide on receive.

But your firmware looks like it'll work with the example robot skill code i provided you

DJ, Thanks I will make the changes you recommend to the firmware make everything an integer.   My other problem because of my lack of understanding the VS IDE is where to put the code because it auto creates so much stuff for you I am just not sure where stuff goes.

I made a few changes to the code you provided is what I came up with.   Note: IT DOES WORK SO I AM MISSING SOMETHING....

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using ARC;

namespace ESP32_MPU6050 {

  public partial class MainForm : ARC.UCForms.FormPluginMaster {

    Configuration _config;

    public MainForm() {

      InitializeComponent();

      // show a config button in the title bar. Set this to false if you do not have a config form.
      ConfigButton = true;
    }

    /// 
    /// Set the configuration from the project file when loaded.
    /// We'll extract the _config class that's from the project file.
    /// 
    public override void SetConfiguration(ARC.Config.Sub.PluginV1 cf) {

      _config = (Configuration)cf.GetCustomObjectV2(typeof(Configuration));

      base.SetConfiguration(cf);
    }

    /// 
    /// When the project is saving, give it a copy of our config
    /// 
    public override ARC.Config.Sub.PluginV1 GetConfiguration() {

      _cf.SetCustomObjectV2(_config);

      return base.GetConfiguration();
    }

    /// 
    /// The user pressed the config button in the title bar. Show the config menu and handle the changes to the config.
    /// 
    public override void ConfigPressed() {

      using (var form = new ConfigForm()) {

        form.SetConfiguration(_config);

        if (form.ShowDialog() != DialogResult.OK)
          return;

        _config = form.GetConfiguration();
      }
    }

        private void label1_Click(object sender, EventArgs e)
        {

        }

        private void button1_Click(object sender, EventArgs e)
        {
            ARC.EZBManager.EZBs[0].Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D0, 10);
        }

        private void button2_Click(object sender, EventArgs e)
        {
            ARC.EZBManager.EZBs[0].Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D0, 170);
        }

        private void checkBox1_CheckedChanged(object sender, EventArgs e)
        {

        }

        private void textBox1_TextChanged(object sender, EventArgs e)
        {

        }

    void readValues()
    {

        try
        {

            var response = EZBManager.EZBs[0].SendCommandData(12, 0x00);

            UInt16 AngleZ = BitConverter.ToUInt16(response, 0);
            UInt16 AngleY = BitConverter.ToUInt16(response, 2);
            UInt16 AngleX = BitConverter.ToUInt16(response, 4);
            UInt16 servoRvalue = BitConverter.ToUInt16(response, 6);
            UInt16 servoPvalue = BitConverter.ToUInt16(response, 8);
            UInt16 servoYvalue = BitConverter.ToUInt16(response, 10);

            ARC.Scripting.VariableManager.SetVariable("$AngleZ", AngleZ);
            ARC.Scripting.VariableManager.SetVariable("$AngleY", AngleY);
            ARC.Scripting.VariableManager.SetVariable("$AngleX", AngleX);
            ARC.Scripting.VariableManager.SetVariable("$servoRvalue", servoRvalue);
            ARC.Scripting.VariableManager.SetVariable("$servoPvalue", servoPvalue);
            ARC.Scripting.VariableManager.SetVariable("$servoYvalue", servoYvalue);

               if (Invokers.GetCheckedValue(checkBox1))
                   Invokers.SetAppendText(textBox1, true, "AngleZ: {0}, AngleY: {1}, AngelX: {3}, Yaw: {4}, Pitch: {5}, Roll: {6}", AngleZ, AngleY, AngleX, servoYvalue, servoPvalue, servoRvalue);
        }
        catch (Exception ex)
        {
             Invokers.SetAppendText(textBox1, true, ex.ToString());
        }

    }
  }
}

No where are you calling the readValues() function. It’s just sitting there. Put it in a button for testing. After that you’ll probably want it in some sort of timer.