EZ-ESP32 with Adafruit PCA9685
This firmware uses the ESP32 with an Adafruit 16-Channel 12-bit PWM/Servo Driver (PCA9685) servo controller over i2c. All digital port settings in ARC will use the ESP32 ports. All PWM and servo commands from ARC will use the PCA9685 ports.
The ESP32 has only a few I/O, so the PCA9685 adds additional ports for servo and pwm usage.