PierreAuge

The difficulty I'm having is conceptually implementing the two pid loops.

That's the concept, thoughts? I've mostly been playing with large h-bridges like the ibt-2 to drive big brushed motors so this is new to me.

I'd like to maximize the use of the board if that makes sense.

Miguel,Thanks, yes the idea is to use it with very small motors in a robotics application so the l293dd should work as expected. I'm already using it, so the closed...

It's just an exercise in building an affordable servo driver with parts I already have. The nodemcu shields, I've been using as a STEM tool to engage my kids. So...

https://github.com/PierreAuge/dcservo/blob/master/dcservo/DCServo-IBT2.ino Here's a link to my working sketch using the IBT-2