I will write esp32 or arduino firmware for your hardware project

Firmware is where the datasheet meets the thing that actually happens on the bench.

I write it. Sensors read, servos move, the display shows something useful, and the board talks to WiFi or Bluetooth without dropping every ten minutes. ESP32, ESP8266 and Arduino, in C with ESP-IDF or the Arduino framework, whichever fits the board.

Most of the difficulty in this work is electrical rather than logical. On my own desk robot, servo inrush current browned out the board at every boot until the pins were driven low before power settled, and a loose solder joint read a nonsense 0.72 volts and looked exactly like a dead regulator. I check the physical layer before blaming the code.

Send me the board, the parts list and what it should do. I will tell you what is realistic on that hardware before you order.