Uses [esp-open-sdk][1] and contains code from the xtensa examples
(hw_timer.c). Extremely basic and in no way optimised or an example of
"clean" c code.
I'm using a ESP01 with 256+256 flash, tweaking the build will be necessary if you want to run it on anything else. Whenever I remember where I put my notes I'll link to how.
The API, if you want to call it that, accepts UDP datagrams on port 53850. An integer will be interpreted as the desired servo pulse length in microseconds. A number prefixed by the letter M will be interpreted as desired motor speed in percent.
Too many to list at the moment.