ESP32 Motor Control: PWM Generation & Optical Encoders

# ESP32 Closed-Loop Motor Control Precision robotic navigation begins at the actuator boundary. While open-loop PWM control commands power to a DC motor, friction and voltage fluctuations cause severe drift. Closed-loop PID velocity control using optical quadrature encoders is essential. ## 1. Hardware Pinout & Wiring - Connect ESP32 GPIO 18 & 19 to your motor driver PWM inputs. - Connect Encoder Channel A and B to GPIO 34 & 35 with pull-up resistors. - Ensure common ground between the microcontroller logic and motor power rails. ## 2. Interrupt-Driven Odometry Tracking Using dedicated hardware interrupts ensures zero pulse drops even under high-RPM operation.