have added on sketch in the examples folder with dc motor and servo motor working and espnow

espnow example/espnow_receiver_servo_dc_motor/espnow_receiver_servo_dc_motor.ino

@@ -0,0 +1,58 @@
+#include "header.h"
+ 
+void setup() {
+
+  // Initialize Serial Monitor
+  Serial.begin(115200);
+  
+  // Set device as a Wi-Fi Station
+  WiFi.mode(WIFI_STA);
+
+  // Initialize ESP-NOW
+  if (esp_now_init() != ESP_OK) {
+    Serial.println("Error initializing ESP-NOW");
+    return;
+  }
+  
+  // Register callback function to receive data
+  esp_now_register_recv_cb(OnDataRecv);
+
+  // Allow allocation of all timers
+	ESP32PWM::allocateTimer(0);
+	ESP32PWM::allocateTimer(1);
+	ESP32PWM::allocateTimer(2);
+	ESP32PWM::allocateTimer(3);
+
+  if(!servo1.attached()) {
+		servo1.setPeriodHertz(50); // standard 50 hz servo
+		servo1.attach(13, 1000, 2000); // Attach the servo after it has been detatched
+	}
+	servo1.write(servo1_init);
+
+  if(!servo2.attached()) {
+		servo2.setPeriodHertz(50); // standard 50 hz servo
+		servo2.attach(12, 1000, 2000); // Attach the servo after it has been detatched
+	}
+	servo2.write(servo2_init);
+
+  // Motor 1 Speeds
+  motor1.setMin(50);
+  motor1.setMax(255);
+  
+  // Motor 2 Speeds
+  motor2.setMin(50);
+  motor2.setMax(255);
+
+  // Initialize Motors
+  motor1.begin();
+  motor2.begin();
+
+  Serial.println("Receiver ready. Waiting for data...");
+
+}
+ 
+void loop() {
+  
+
+
+}

espnow example/espnow_receiver_servo_dc_motor/header.h

@@ -0,0 +1,118 @@
+//==========================================================================
+//  ESP32 SERVO
+//==========================================================================
+
+  // Servo Library
+  #include  "ESP32Servo.h"
+
+  // Servo Pins
+  #define   SERVO1_PIN      13
+  #define   SERVO2_PIN      12
+
+  // Servo Objects
+  Servo   servo1;
+  Servo   servo2;
+
+  // Constants
+  #define servo1_min    52
+  #define servo1_max    134
+  #define servo1_init   97
+
+  // Constants
+  #define servo2_min    52
+  #define servo2_max    140
+  #define servo2_init   95
+
+
+//==========================================================================
+//  ESPNOW
+//==========================================================================
+
+  // Libraries
+  #include  "l298n_esp32.h"
+
+  // Motor 1 Pins
+  #define   MOTOR1_PIN1     27
+  #define   MOTOR1_PIN2     26
+  #define   MOTOR1_ENABLE   14
+
+  // Motor 2 Pins
+  #define   MOTOR2_PIN1     25
+  #define   MOTOR2_PIN2     33
+  #define   MOTOR2_ENABLE   32
+
+  // Motor State
+  enum MotorState {
+      STOPPED,
+      FORWARD_M1,
+      BACKWARD_M1,
+      FORWARD_M2,
+      BACKWARD_M2
+  };
+
+  // Motor Variables
+  MotorState          currentMotorState   = STOPPED;
+  unsigned long       motorStateStartTime = 0;
+  const unsigned long MOTOR_ACTION_DELAY  = 5000; // Delay between motor actions
+
+  // Motor Objects
+  L298N_ESP32   motor1(MOTOR1_PIN1, MOTOR1_PIN2, MOTOR1_ENABLE, 0);
+  L298N_ESP32   motor2(MOTOR2_PIN1, MOTOR2_PIN2, MOTOR2_ENABLE, 1);
+  
+//==========================================================================
+//  ESPNOW
+//==========================================================================
+
+  #include <esp_now.h>
+  #include <WiFi.h>
+
+  // Structure example to receive data
+  // Must match the sender structure
+  typedef struct struct_message {
+      int x;
+      int y;
+      bool b;
+  } struct_message;
+
+  // Create a struct_message called myData
+  struct_message myData;
+
+  // Callback function that will be executed when data is received
+  void OnDataRecv(const esp_now_recv_info_t *esp_now_info, const uint8_t *incomingData, int len) {
+
+    // Copy incoming data into the myData structure
+    memcpy(&myData, incomingData, sizeof(myData));
+
+    // Processing X
+    int x = map(myData.x, -100, 100, servo1_min, servo1_max);
+    // Serial.print(myData.x);
+    servo1.write(x);
+    Serial.print(x);
+    Serial.print(" ");
+
+    // Processing Y
+    int y = myData.y;
+    if(y < 11 && y > -11) {
+      y = 0;
+      motor1.stop();
+      motor2.stop();
+    } else if(y >= 11 && y <= 100) {
+      y = map(y, 11, 100, 0, 255);
+      motor1.backward();
+      motor2.backward();
+      motor1.setPercentage(abs(y));
+      motor2.setPercentage(abs(y));
+    } else if(y <= -11 && y >= -100) {
+      y = map(y, -11, -100, 0, 255);
+      motor1.forward();
+      motor2.forward();
+      motor1.setPercentage(abs(y));
+      motor2.setPercentage(abs(y));
+    }
+    Serial.print(y);
+    Serial.print(" ");
+
+    // Processing Button
+    Serial.println(myData.b);
+
+  }

espnow example/espnow_receiver_servo_dc_motor/l298n_esp32.h

@@ -0,0 +1,102 @@
+
+#ifndef L298N_ESP32_h
+#define L298N_ESP32_h
+
+#include <Arduino.h>
+
+class L298N_ESP32 {
+private:
+    uint8_t in1Pin;
+    uint8_t in2Pin;
+    uint8_t enPin;
+    uint8_t pwmChannel;
+    uint8_t _speed;
+    uint8_t _min_speed = 0;
+    uint8_t _max_speed = 255;
+    bool _invert = false;
+
+    void checkWrite(uint8_t value) {
+        if (_speed != value) {
+            _speed = value;
+            analogWrite(enPin, _speed);
+        }
+    }
+
+public:
+    L298N_ESP32(uint8_t in1, uint8_t in2, uint8_t en, uint8_t channel = 0) :
+        in1Pin(in1), in2Pin(in2), enPin(en), pwmChannel(channel), _speed(0) {}
+
+    void begin() {
+        pinMode(in1Pin, OUTPUT);
+        pinMode(in2Pin, OUTPUT);
+        digitalWrite(in1Pin, LOW);
+        digitalWrite(in2Pin, LOW);
+        analogWriteResolution(enPin, 8);
+        analogWriteFrequency(enPin, 2000);
+        checkWrite(0);
+    }
+
+    void setMin(uint8_t value) {
+        _min_speed = value;
+    }
+
+    void setMax(uint8_t value) {
+        _max_speed = value;
+    }
+
+    void invert() {
+        _invert = !_invert;
+    }
+
+    void forward() {
+        if (!_invert) {
+            digitalWrite(in1Pin, LOW);
+            digitalWrite(in2Pin, HIGH);
+        } else {
+            digitalWrite(in1Pin, HIGH);
+            digitalWrite(in2Pin, LOW);
+        }
+    }
+
+    void backward() {
+        if (!_invert) {
+            digitalWrite(in1Pin, HIGH);
+            digitalWrite(in2Pin, LOW);
+        } else {
+            digitalWrite(in1Pin, LOW);
+            digitalWrite(in2Pin, HIGH);
+        }
+    }
+
+    void goMin() {
+        checkWrite(_min_speed);
+    }
+
+    void goMax() {
+        checkWrite(_max_speed);
+    }
+
+    void setSpeed(uint8_t speed) {
+        speed = constrain(speed, _min_speed, _max_speed);
+        checkWrite(speed);
+    }
+
+    // Modified setPercentage function
+    void setPercentage(uint8_t percentage) {
+      percentage = constrain(percentage, 0, 100);
+      uint8_t speed = map(percentage, 0, 100, _min_speed, _max_speed);
+      checkWrite(speed);
+    }
+
+    void override(uint8_t value) {
+        ledcWrite(pwmChannel, value);
+    }
+
+    void stop() {
+        digitalWrite(in1Pin, LOW);
+        digitalWrite(in2Pin, LOW);
+        checkWrite(0);
+    }
+};
+
+#endif

espnow-car/servo_esp32.h

@@ -3,23 +3,24 @@
   #define Servo_ESP32_h
 
   #include <Arduino.h>
+  #include <ESP32Servo.h>
 
   class Servo_ESP32 {
 
     private:
 
-      uint8_t servoPin;
-      uint8_t pwmChannel;
-      int minPulseWidth;
-      int maxPulseWidth;
-      int currentAngle;
-      const int freq = 50;  // 50Hz for standard servos
-      const int resolution = 16; // 16-bit resolution for smoother control
-      bool _invert = false;
-      uint8_t _min_pos = 0;
-      uint8_t _max_pos = 180;
-      uint8_t _init_pos = 90;
-      uint8_t _prv_pos = 0;
+      uint8_t   servoPin;
+      uint8_t   pwmChannel;
+      int       minPulseWidth;
+      int       maxPulseWidth;
+      int       currentAngle;
+      const int freq        = 50;  // 50Hz for standard servos
+      const int resolution  = 16; // 16-bit resolution for smoother control
+      bool      _invert     = false;
+      uint8_t   _min_pos    = 0;
+      uint8_t   _max_pos    = 180;
+      uint8_t   _init_pos   = 90;
+      uint8_t   _prv_pos    = 0;
 
       bool verify(uint8_t input) {
         if (input != _prv_pos) {