Ini
[env:esp32dev]
platform = espressif32
board = esp32dev
framework = arduino
monitor_speed = 115200
lib_deps =
  adafruit/Adafruit MPU6050@^2.2.6
  adafruit/Adafruit SSD1306@^2.5.13
  adafruit/Adafruit GFX Library@^1.11.11

Cpp
#include <Arduino.h>
#include <Wire.h>
#include <WiFi.h>
#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_SSD1306.h>

#define I2C_SDA_PIN 21
#define I2C_SCL_PIN 22
#define MOTOR_PWM_ENA_PIN 25
#define MOTOR_IN1_PIN 26
#define MOTOR_IN2_PIN 27
#define MPU6050_INT_PIN 16
#define ADC_MOTOR_CURRENT_PIN 34
#define ADC_MOTOR_VOLTAGE_PIN 35

#define PWM_CHANNEL 0
#define PWM_FREQ_HZ 20000
#define PWM_RES_BITS 10
#define OLED_WIDTH 128
#define OLED_HEIGHT 64

Adafruit_MPU6050 mpu;
Adafruit_SSD1306 display(OLED_WIDTH, OLED_HEIGHT, &Wire, -1);

static unsigned long lastSampleMs = 0;

float readMotorVoltageV() {
  uint16_t raw = analogRead(ADC_MOTOR_VOLTAGE_PIN);
  float adcV = raw * 3.3f / 4095.0f;
  return adcV * 4.0f; // 30k/10k divider: ADC = VIN * 0.25
}

float readMotorCurrentA() {
  uint16_t raw = analogRead(ADC_MOTOR_CURRENT_PIN);
  float adcV = raw * 3.3f / 4095.0f;
  float acsV = adcV * 1.5f; // 10k/20k divider: ADC = ACS * 2/3
  return (acsV - 2.5f) / 0.185f; // ACS712-05B typ sensitivity
}

void setMotor(int duty0to1023, bool forward) {
  duty0to1023 = constrain(duty0to1023, 0, 1023);
  digitalWrite(MOTOR_IN1_PIN, forward ? HIGH : LOW);
  digitalWrite(MOTOR_IN2_PIN, forward ? LOW : HIGH);
  ledcWrite(PWM_CHANNEL, duty0to1023);
}

void setup() {
  Serial.begin(115200);
  Wire.begin(I2C_SDA_PIN, I2C_SCL_PIN);

  pinMode(MOTOR_IN1_PIN, OUTPUT);
  pinMode(MOTOR_IN2_PIN, OUTPUT);
  pinMode(MPU6050_INT_PIN, INPUT);
  ledcSetup(PWM_CHANNEL, PWM_FREQ_HZ, PWM_RES_BITS);
  ledcAttachPin(MOTOR_PWM_ENA_PIN, PWM_CHANNEL);
  setMotor(0, true);

  analogReadResolution(12);
  analogSetPinAttenuation(ADC_MOTOR_CURRENT_PIN, ADC_11db);
  analogSetPinAttenuation(ADC_MOTOR_VOLTAGE_PIN, ADC_11db);

  if (!mpu.begin(0x68, &Wire)) Serial.println("MPU6050 not found");
  if (!display.begin(SSD1306_SWITCHCAPVCC, 0x3C)) Serial.println("SSD1306 not found");
  display.clearDisplay();
  display.setTextColor(SSD1306_WHITE);
  display.setTextSize(1);
  display.setCursor(0, 0);
  display.println("Aethel Drive");
  display.display();
}

void loop() {
  if (millis() - lastSampleMs >= 500) {
    lastSampleMs = millis();
    sensors_event_t a, g, temp;
    mpu.getEvent(&a, &g, &temp);
    float vmotor = readMotorVoltageV();
    float imotor = readMotorCurrentA();

    Serial.printf("V=%.2f V I=%.2f A ax=%.2f ay=%.2f az=%.2f\n", vmotor, imotor, a.acceleration.x, a.acceleration.y, a.acceleration.z);
    display.clearDisplay();
    display.setCursor(0, 0);
    display.printf("Aethel Drive\nV: %.2f V\nI: %.2f A\nAx: %.2f\n", vmotor, imotor, a.acceleration.x);
    display.display();
  }
}

• Build: pio run
• Upload: pio run -t upload
• Monitor: pio device monitor
• If upload fails, hold BOOT, tap EN, then release BOOT.