The NodeMCU project just accepted the pull request for the new pulsecnt library created for ChiliPeppr and the robot arm project. This library was necessary for the ChiliPeppr Robot Arm project because it keeps track of stepper motor steps on the independent hardware built into ESP32 so the main CPU doesn’t have to do any step counting. It’s pretty awesome to not have to pulse count in main CPU code anymore. This is one of the many reasons I love ESP32.
Here’s a link to the docs for the new library:
https://nodemcu.readthedocs.io/en/dev-esp32/modules/pulsecnt/
And a Youtube video on how to use the library.