espp/motorgo-plink

# MotorGo Plink Board Support Package (BSP) Component [![Badge](https://components.espressif.com/components/espp/motorgo-plink/badge.svg)](https://components.espressif.com/components/espp/motorgo-plink) The MotorGo Plink is a four-channel ESP32-S3 motor-control board from Every Flavor Robotics. It combines: - four dual-PWM DC motor outputs - four MT6701-compatible SSI encoder chip-selects on a shared bus - four RC-servo signal pins - one onboard LSM6DS33 IMU on the internal I2C bus - a Qwiic I2C bus plus a second internal I2C bus - user and status LEDs The `espp::MotorGoPlink` component provides a singleton board abstraction for those documented pin mappings, plus convenient helpers for: - initializing and driving the four DC-motor channels with normalized speed commands backed by `espp::BdcDriver` on MCPWM, where positive commands drive `pwm_a`, negative commands drive `pwm_b`, and zero disables both outputs - initializing the shared encoder SPI/SSI bus and creating four `espp::Mt6701<SSI>` encoder instances - initializing the onboard LSM6DS33 IMU on the hidden I2C bus via the shared `espp::Lsm6dso` driver - accessing the four servo signal pins so you can attach your preferred servo-control driver - controlling the user/status LEDs with simple brightness setters or a Gaussian breathing effect - accessing the external Qwiic and internal I2C buses ## Example The [example](./example) initializes the board, logs the MotorGo Plink pin map, starts the onboard LEDs breathing, initializes the onboard IMU, and safely keeps the motors stopped by default. Optional `menuconfig` flags let you enable encoder polling and a stronger motor sweep while the LEDs continue pulsing, allowing you to exercise the board interfaces together on real hardware.

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