ESP32 Compatible servo Sensors

Three servos cover most builds. The SG90 is the classic 9 g micro servo - light loads, plastic gears, very cheap. The MG90S is the same size with metal gears for a longer life under real load, and the MG996R is the standard-size choice when you need actual torque. The general servo guide covers the signal basics that apply to all of them.

The ESP32 drives a few servos directly from its PWM channels, but when a project grows arms and legs, the PCA9685 moves 16 channels onto one I2C chip and offloads the timing. Either way, power servos from their own 5V supply - a USB rail sags under stall current and resets the board.