unless delay actually calls vTaskDelay on esp32, which it does. kolban Posts: 1683 Joined: Mon Nov 16, 2015 4:43 pm Location: Texas, USA. You can't do PWM with code, the switching time for a digitalWrite itself is >1ms. Low uS delays will not be easy in software because another task/ISR might cut across you. Delay a task until a specified time. Pauses execution for us microseconds. If this is set to false, on single-proc systems this will prevent all other code from running. An individual timer in a group should be identified with timer_idx_t. Latency 56 microseconds. time. Use a N-Channel MOSFET. when the timer reach b_value do something. I would use the ESP32's micro cycle count which can handle count in microseconds up to 207 years. Use a hardware timer, and interrupt. In fact, as soon as the serial port is monitored, I get a message that the serial port is closed “due to disconnection from the machine”. I am trying the run stepper motor with the tmc2208 driver and ı want to delay in microseconds like 5uS or 10 uS. The motor interface type must be set to 1 when using a step and direction driver. My question is wether or not it is possible to use delayMicroseconds() on the ESP32 while sustaining an uninterupted wifi connection? I ask this because I. I also used portTICK_RATE_MS but the speed didnt change . Execute the following shell commands (or add them to your ~/. A digital servo needs a pulse of 1. int setSliceMicros(int microseconds) Set each time slice to be 'microseconds' long: void yield() Yield current thread's remaining time slice to the next thread, causing immedidate context switch: void delay(int millisecond) Wait for milliseconds using yield(), giving other slices your wait time: int start(int new_state = -1)Introduction. This means that we can control the stepper motor with just 2 pins from our controller, or one for controlling the rotation direction and the other for controlling the steps. PERIODIC, callback=lambda t:print("timer callback")) Each of the parameters is explained below: The first parameter is the period in milliseconds. In esp32_hal::delay? Struct esp32_hal:: delay:: Delay source · [−] pub struct Delay { /* private fields */ } Expand description. delay(60000); // 1 minute = 60x1000 = 60,000 milliseconds. Re: small numbers of µS delays. Internally, esp_timer uses a 64-bit hardware timer. delayMicroseconds() works in arduino. So I assume you are using arduino-esp32 as a component with your own sdkconfig settings? Correct, the default esp-idf settings. Introduction. 25ms. const byte timeReference = 1; // difference from GPS to reset RTC in seconds. ESP32 Timer Example (Arduino) Let’s say we’d like to toggle an LED every 1 ms without using a delay that blocks the CPU and does much harm to the overall timing performance of your system. It covers non-blocking delays, non-blocking serial output, non-blocking user input, removing delays from third party libraries, and loop timers, so you can see and adjust the response/latency of your tasks. Its argument is the struct_time or full 9-tuple (since the dst flag is needed; use -1 as the dst flag if it is unknown) which expresses the time in local time, not UTC. Optimizing execution speed is a key element of software performance. -Deep sleep (esp32/buildin libary)-Using RTC memory to store deep sleep persistent variabele (esp32/buildin libary) Warning: Avoid using the non working lwip based SNTP/DNS call's in combination of the W5500/Ethernet driver, a it is not integrated in LWIP. Delay () Delay is an arduino function wrapper that calls vtaskdelay. when the timer reach c_value do something. I am trying the run stepper motor with the tmc2208 driver and ı want to delay in microseconds like 5uS or 10 uS. This number represents the time and is measured in microseconds. Functional Overview ¶ Description. ESP32 with A4988 and stepper motor connection diagram. After getting the code to work on the ESP32 with a few changes, I ran a speed test again, and got the same 80ms. HelWeb. I seem to be running into this issue on teensy3. Espressif ESP32 Official Forum. cpp 📋 Copy to clipboard ⇓ Download. Rollback Rollback and anti-rollback features must be configured in the bootloader as well. Inside this timer ISR you would reset/disable the timer, then process your delayed action and return. Deixe-a para quando estiver programando um Arduino. (Updated at 01/04/2023) The sensor HC-SR04 allows measurement distances to an obstacle based on ultrasonic waves. So, Normal communication with that module using ESP32 is UART but. With the Timer1 library, the minimum interrupt period is 1 microsecond and. g. g. The main idea is to start a timer for a given amount of time (say 5 seconds) whenever an external button is pushed. image. I also used portTICK_RATE_MS but the speed didnt change . Do you really want to block and spin for 9ms? I do. A positive number or zero can be passed as an argument. The serial output clearly shows the problem: The alarm in the timer is not enabled. First of all, you don't want to delay the loop() ever. I use an ADPS-9960 for gesture control which triggers an external interrupt. Unsigned longs on the arduino can reach from 0 to 4,294,967,295. On 16 MHz Arduino boards (e. hatenablog. ESP32 crashes when I call the function after ~1 hour 20 minutes of usage, because esp_timer_get_time() return a int64_t value and is parsed as uint32_t in delayMicroseconds(). So in most cases, it will loop once, in the worst case it will loop twice. Whenever I am adding WiFi. I edited the example code and removed all I. timer = Timer(period=1000, mode=Timer. ticks_ms ¶Here's a summary of the problem and the steps I have taken so far: Symptoms: - I have implemented the pulse output using the LEDC module on the ESP32, triggered by an input signal. If you use external libraries in your code. More knowledgeable programmers usually avoid the use of delay () for timing of events longer than 10’s of milliseconds unless the Arduino sketch is very simple. . Espressif ESP32 Official Forum. 0. And I got this link to the very HX711 library I was using. So the ESP32 starts booting but does not go in normal operating mode. In this guide, we will show you how to use FreeRTOS timers and delays using ESP32 and ESP-IDF. This function attempts to provide an accurate delay of at least us microseconds, but it may take longer if the system has other higher priority processing to perform. Also, you are potentially. ESP32 crashes when I call the function after ~1 hour 20 minutes of usage, becaus. vTaskDelay issue bit me. Free book on ESP32 available here:. ). On the small end of the scale are the steppers used within DVD. #include <ESP32Time. _delay_ms is (most probably) AVR implementation for delay. For example delayMicroseconds(2) takes 330 cycles, corresponding to a delay of more than 4µs, or double what was requested, when running at 80MHz to save power. The timeout of the Stream class has a default of 1 second (1000 milliseconds) and the timeout for low level I2C code for the Arduino Uno is. 2, a 32-bit hardware timer was used. Both encoders provide 8 pulses per revolution and the shaft rotates between 150-300RPM. Which can be used to create a time base for various events in your applications (like LED blinking, short pulse generation, or whatever). Finally I created the code below that does not display a zero but the text "resetting the sensor" and then pushes the signal of the echo into LOW. ) August 15, 2022. The ROM function ets_delay_us() (defined in rom/ets_sys. This tutorial shows how to interface HC-SR04 or HY-SR05 Ultrasonic sensors with ESP32 for contactless distance measurement. ticks_us ¶ Just like ticks_ms above, but in microseconds. First of all, the timer should be initialized by calling the function timer_init () and passing a structure timer_config_t to it to define how the timer should operate. The Driver provides five different step. We have 10 and 40 microseconds delay requirement for our application development purpose. We have 10 and 40 microseconds delay requirement for our application development purpose. Measuring distances with the HC-SR04 ultrasonic sensor with an ESP32 in Arduino code. That is mandatory if you need to measure. I have ensured that this is the only task with priority 1. Pulse signal is provided through a PA4 pin of TM4C123 microcontroller. In the interrupt handler itself I only set a variable that causes the execution of a function in the loop. const byte refreshRate = 10; // refresh rate for display, in ms - programmatically changed during fades. Note that it’s 72-1, because the prescaler will add 1 to any. I checked flash frequency is 40MHz (80 seems to lead to same issues) Anyway, if I start the device at 10:00:34, it will restart at 10:01:00. Arduino example sketch "Blink" allows you to specify "delay ()" between state. According to the documentation esp_sleep_enable_timer_wakeup accepts a uint64_t type for its requested duration parameter. You can simply copy this code and create a new project in keil uvision. This may change in future. esp_timer set of APIs provides one-shot and periodic timer s, microsecond time resolution, and 64-bit range. Should we use "delay()" as we don't want the 25 microseconds to be interrupted. But, Suddenly we are getting following issues of board restart issue from boot loader side [2022-01-20 10:45:27. Return. The argument of the initialize() function sets the length of time before the interrupt is triggered, in microseconds. There are other tasks running in the background but they have priority 2 or higher. . I dont get any delay even if I add some different delays. Dynamic tasks activation and deactivation. ESP_OK on. 768 kHz) so the timers might be using this base frequency. This code works fine, however I want to improve it to get to better time scales, by using the ESP. I am trying the run stepper motor with the tmc2208 driver and ı want to delay in microseconds like 5uS or 10 uS. Free book on ESP32 available here:. Incorrect Reading NPK Sensor. I dont get any delay even if I add some different delays. Return. For example, if you read the time with micros() and get 10000, then the next value you get is 10004, and after that 10008, and. Atualmente, o maior valor que irá porduzir um delay preciso é 16383. The calculation of the duration take place later. I am trying the run stepper motor with the tmc2208 driver and ı want to delay in microseconds like 5uS or 10 uS. I measured the delay like this: Code:. Board ESP32 Dev Module Device Description Proprietary board using ESP32-WROOM-32E module, RTL8201F PHY with HR911105A magjack. We will solve this by using our RTC memory. I haven't measured this, but it wouldn't be surprising if this was a few tens of microseconds. , reducing overall power consumption. bool: allowThreadYield: True to allow yielding the thread. フーリエ変換をArduino(厳密にはESP32)で実装・検証したい方; Arduino初心者～中級者向けの記事です。 1. If issue persists, open issue in related Ethernet library or ESP32/ESP8266. Timer callbacks can be dispatched by two methods: ESP_TIMER_TASK ESP_TIMER_ISR. Hi, I have to drive a stepper motor with my esp32, with a frequency that requires a delay below milliseconds (for example 100 microseconds). Postby PeterR » Fri Jun 12, 2020 1:02 am. Overview. time. 25 = 331. cpp at master · espressif/arduino-esp32 · GitHub. 010ms from the moment the trigger is received until the output is. TB6600 arduino stepper motor driver has a wide range power input, 9~42VDC power supply. Connect the output pins of the driver with the respective motor pins. After that, you can use vTaskDelay (. The parameter in vTaskDelayUntil is the absolute time in ticks at which you want to be woken calculated as an increment from the time you were last woken. So in that module, we need exact delay of 10 and 40 microseconds of delay interval in some interval to update firmware into that module using one wire communication over GPIO pins. I am using the ESP32 servo library to control an ESC for a brushless motor. 96” OLED. There will be a delay between the input changing state and your interrupt routine getting control. I also used portTICK_RATE_MS but the speed didnt change . This could change in future Arduino releases. com ↑以前ESP32で赤外線の送受信を行うプログラムを紹介しました。 このプログラムの中で「ESP32にdelayMicrosecondsがない」としてシステム時間の計算をして擬似的にμsのdelayを行なっていました。しかし最近色々調べてみると、実はESP32にもμs単位でのdelayを行う関数が存在している. So for a hundred microsecond delay do: for(int loop = 0; loop < 3; loop++) {int samp = adc1_get_raw((adc1_channel_t)channel2); } It goes without saying that this a workaround for a systematic solution; This delay is jittery, as the higher priority processes will interfere. – unalignedmemoryaccess. Parameters. atmuc. First, we will learn to interface HC-SR04 with ESP32. So, Normal communication with that module using ESP32 is UART but to upgrade. Even a simple loop causes it to crash: ELF file SHA256: 0000000000000000 Backtrace: 0x4008860c:0x3ffbf8f0 0x40088889:0x3ffbf910 0x401300bc. The earliest date for which it can generate a time is Jan 1, 2000. The available modules are generally composed of an ultrasonic transmitter, a receiver, and a chip that controls them. For example, they will allow you to write multitasks programs very easily, and thus avoid using the delay() function. Source goes to Ground, Drain to the pin to drag Low. Then return. I also used portTICK_RATE_MS but the speed didnt change . byte currRefreshRate = refreshRate; // to start. platformio. Running a number of times or forever. Are you using the Arduino platform for ESP32 development? If so, I think `delayMicroseconds()` is available. I dont get any delay even if I add some different delays. (builtinLED, LOW); delay(100); }} The ESP32 RTC wakes the ESP32 microcontroller from sleep mode after a period of time has elapsed, with the instruction esp_sleep_enable_timer_wakeup(N), where N is the required number of microseconds. Click the tab to view its contents, including detailed descriptions of the available. Using "delayMicroseconds ()", that delay can be specified with microsecond resolution. Here is some example code. ESP32 Timers. If you need to generate a 1-minute time delay with Arduino, you can still use the delay() function. Delay driver. Out of these 4 relays, I am using only 1 relay, and it’s connected to the GPIO Pin 12. シリアルモニタに”. When ı create a task using xTaskCreate() function and adding some delay in the task function. Isso pode mudar em versões futuras do Arduino. and the biggest difference in reading was few MicroSeconds . I am trying the run stepper motor with the tmc2208 driver and ı want to delay in microseconds like 5uS or 10 uS. Currently, the largest value that will produce an accurate delay is 16383. Code: Select all 00000000 <delay_using_division>: 0: 004136 entry a1, 32 3: 000081 l32r a8, fffc0004 <delay_using_division+0xfffc0004> 6: a2a280 muluh a10, a2, a8 9: 41a3a0 srli a10, a10, 3 c: 000081 l32r a8, fffc000c <delay_using_division+0xfffc000c> f: 0008e0 callx8 a8 12:. Hi, The thing with uS delays under software control is you need to clearly understanding you're tolerances. A touch sensor system is built on a substrate which carries electrodes and relevant connections under a protective flat surface. I am working a project which used timer 2 to trigger the Timer Compare Interrupt. ESP32 have two 64-bit general purpose timer groups and each have 16-bit pre-scalers and 64-bit up/down counters. Struct esp_idf_hal :: delay :: Ets. esp_timer set of APIs provides one-shot and periodic timers, microsecond time resolution, and 64-bit range. Deixe-a para quando estiver programando um Arduino. The first time, the value is wrong of course, but after that, it is the microseconds outside the loop() function. I have disabled all interrupts. For microseconds based delay, DWT cycle counter is used to get maximal optimized delay. Timer should not be running when this function is called. You just don't want to do all the stuff every loop. Probably not, with only 78 microseconds between data points. Try it the other way around. rikoubou. Code that executes faster can also have other positive effects, e. When ı create a task using xTaskCreate() function and adding some delay in the task function. don't know the exact number off the top of my head). Or divided by a million to find number of ticks in a microsecond. When ı create a task using xTaskCreate() function and adding some delay in the task function. If you are hoping for a callback to run with anything approaching microsecond resolution you need to use a Pyboard or similar. But make sure to do the time unit conversion and pass to it the desired time in milliseconds. 5 ms for neutral position. I can not understand what this delay depends on. Posted by rtel on December 24, 2014. The exact hardware timer implementation used will depend on the target, where LAC timer is used for ESP32. Let me know if anyone has any idea for that. 1483×910 93. Replacing liblwip. 1 $egingroup$ No, it's just the other way round: it checks that the milliseconds haven't rolled over. After creating a setup() function, which initializes and sets the initial values, the loop() function does precisely what its name suggests, and loops consecutively, allowing your program to change and respond. Returns the number of microseconds since the Arduino board began running the current program. ESP32 Timer Example (Arduino) Let’s say we’d like to toggle an LED every 1 ms without using a delay that blocks the CPU and does much harm to the overall timing. When ı create a task using xTaskCreate() function and adding some delay in the task function. // Include the AccelStepper library: #include. kolban Posts: 1683 Joined: Mon Nov 16, 2015 4:43 pm Location: Texas, USA. From the arduino reference page for delay the parameter for delay is an unsigned long. I also used portTICK_RATE_MS but the speed didnt change . I dont get any delay even if I add some different delays. I also used portTICK_RATE_MS but the speed didnt change . 25 nanoseconds) software overhead to acquire the count. With or without a timeout, execution may resume at any time if there are events that require. When ı create a task using xTaskCreate() function and adding some delay in the task function. Dimming Neopixels, Delays<Microseconds. Always use RTOS based delay function. Accuaracy problem with internal ADC in esp32. DelayMilliseconds(int, bool) Delay for. Most of the time, the measurement shows 14us (1170 cpu cycles at 80mhz). Regards, Ritesh Prajapati. Using Arduino LEDs and Multiplexing. You need a low-threshold MOSFET like the Trench-Fet family. While millis() is an absolute time clock. ESP32 way to synchronnize multiple esp32 with max delta time 20 µsec. I dont get any delay even if I add some different delays. If the GPIO has an internal pull-up, then this is enabled before the pin is sampled. It's easier to call esp_timer_get_time () to get microseconds since boot and calculate durations based on that. Actually, we have connected one module over UART with ESP32 chip in our product. "Microsecond delay within task. -. 2 Ritesh Posts: 1356 Joined: Tue Sep 06, 2016 9:37 am Location: India Need API support to provide micro seconds delay Postby Ritesh » Tue Jun 20, 2017 5:48 pm. #include <Arduino. With a normal LEDs you can. I am trying the run stepper motor with the tmc2208 driver and ı want to delay in microseconds like 5uS or 10 uS. Subtracting 53 from every count gives me a count accurate to within a few tens of picoseconds, for periods from 30 microseconds to about 500 microseconds. The ESP32 series employs either a Tensilica Xtensa LX6, Xtensa LX7 or a RiscV processor, and both dual-core and single-core variations are available. rikoubou. Plenz September 19, 2015, 9:45am 1. Or divided by a million to find number of ticks in a microsecond. Posted by rtel on November 13, 2018. The FRC2 is a legacy option for ESP32 until v4. With a neopixel you can show values in between with smoothly changing colors from for instance blue. println()は、シリアル通信で改行付きの文字列を送信します。 delay()は、ミリ秒指定で一定時間待機します。More knowledgeable programmers usually avoid the use of delay () for timing of events longer than 10’s of milliseconds unless the Arduino sketch is very simple. It uses the STM32's DWT_CYCCNT register, which is specifically designed to count actual clock ticks, located at address 0xE0001004. LAC timer is used for ESP32. Use sleep_us() for more precise delays. 25); . The wiring is done as shown with 2 exceptions. So in that module, we need exact delay of 10 and 40 microseconds of delay interval in some interval to update firmware into that module using one wire communication over GPIO pins. The application task (code) generally calls Wi-Fi driver APIs to initialize Wi-Fi and handles Wi-Fi events when. We have 10 and 40 microseconds delay requirement for our application development purpose. Currently, the largest value that can produce an accurate delay is 16383. However, specific parameters should be adjusted based on the power-up timing of the module and the power-up and reset sequence timing of the chip. Prescaler divides the Timer clock further, by the value that you input in the prescaler. 1. Delay () Delay is an arduino function wrapper that calls vtaskdelay. 2 (depending on compiler settings) uses the computed goto feature of the GCC compiler. Ask Question. Can you give us any guidance on the response time needed for the WiFi/Server code running in an ESP32 VS other user code?? THANKS! Any comments or suggestions or critique welcome!Hello, is there a possibility to delay the boot of the ESP32. // This code is for testing analogRead delay // Compiled using Arduino IDE // ESP32-WROOM-DA Module // Board is ESP WROOM 32 made by // Does nothing more than fire a periodic timer // interrupt every 200 microseconds and an analogRead // inside the ISR: PinTEST is high before read, // then is low. When ı create a task using xTaskCreate() function and adding some delay in the task function. The ESP32 SoCs contains from 2 to 4 hardware timers. During the interrupt service routine (ISR) the processor uses time to execute instructions, this delay causes the jittering. kolban Posts: 1683 Joined: Mon Nov 16, 2015 4:43 pm Location: Texas, USA. Add a signal diode in parallel with the resistor (A to ground,. I dont get any delay even if I add some different delays. In the Extension, select ESP-IDF option: We will click the ‘ esp_timer ’ under the System tab. (CONFIG_IDF_TARGET_ESP32 was defined for ESP32, but not defined for ESP32-S3; changing that to !CONFIG_FREERTOS_UNICORE fixed the issue. define pdMS TO RATE t ) 1000 ) ) The usage of pdMS_TO_TICKS. This function will start the timer which will trigger every ‘period’ microseconds. They never yield the processor. Step 4: Connect the potentiometer to the ESP32. Get Started. About . Problem is, I cannot start them from outside before the time is over. PERIODIC, callback=lambda t:print. You should observe the two motors alternating through sweeps. Internally, esp_timer uses a 64-bit hardware timer. Functions. Note that this is busy-waiting, so unlike vTaskDelay it does not allow other tasks to run (it just burns CPU cycles. hatenablog. as well. You should explicitly declare your delay value as an. The ESP32 Wi-Fi programming model is depicted as follows: Wi-Fi Programming Model. Hello community, I made a function that should be able to create a delay for a certain number of microseconds, here the code. The constant portTICK_PERIOD_MS can be used to calculate real time from the tick rate - with the resolution of one tick period. The ESP32 has two cores, with 32 interrupts each. The value should be treated as opaque, suitable for use only with ticks_diff(). The unit restarts each minute, around 00 seconds. Description. After some playing and toying I decided to try esp-idf to. Here is a code example for a 1-minute time delay in Arduino. Since we use the GPIOs on ESP32, you can complete the connections with fewer wires. Because the change is not just changing. These ESP32, ESP32_S2, ESP32_S3 or ESP32_C3 Hardware Timers, using Interrupt, still work even if other functions are blocking. delayMicroseconds() works in arduino. Optional: detach interrupt. cc analogRead() - Arduino Reference. There are 7 kinds of micro steps (1, 2 / A, 2. I dont get any delay even if I add some different delays. The ESP32 chip contains two hardware timer groups. void esp_rom_delay_us (uint32_t us) Pauses execution for us microseconds. We have used GPIO12 to connect with DIR and GPIO14 to connect with STEP. It is microseconds and not milliseconds. I need accuracies of 1 ppm or better. On 16 MHz Arduino boards (e. (I am also using the same. You are calling delay(2) which delays for 2 milliseconds which is longer than an ISR is allowed to block (300 microseconds by default). This could change in future Arduino releases. I don't know what the valid maximum value to call with is,. ESP32 way to synchronnize multiple esp32 with max delta time 20 µsec. h> #include "esp32-hal-ledc. Click on the Preferences menu item. Be aware that dependent on what you. ’. Regards, Ritesh Prajapati. A 9 V battery may not be adequate. This guide also includes a comparison of vTaskDelay () function provided by FreeRTOS with different delay values in milliseconds. If you need to generate a 1-minute time delay with Arduino, you can still use the delay() function. We have set the period as 5000ms which means 5 seconds. All without using the delayMicroseconds() function. First, we will learn to interface HC-SR04 with ESP32. Larger values can produce an extremely short delay. The Wi-Fi driver can be considered a black box that knows nothing about high-layer code, such as the TCP/IP stack, application task, and event task. Instead use delayMicroseconds(); for instance delayMicroseconds(500); for 500us and delayMicroseconds(1250); for 1. This function will start the timer which will trigger every ‘period’ microseconds. g. ”を10回表示、1000us毎に”. Re: small numbers of µS delays. Trig (Trigger): This pin is used to initiate the ultrasonic pulse. My idea was to create a freeRTOS task for the stepper motor on core 0, so that core 1 can run. How to use loop() Function with Arduino. Since the ESP32 is such a tiny micro controller powered by a micro usb port, you can grab a small power bank, plug it in, and start measuring distances normally inaccessible with conventional means of measuring i. This is the better option when executing multiple tasks, which is usually the case in FreeRTOS. Neopixels have great possibilties. I am trying the run stepper motor with the tmc2208 driver and ı want to delay in microseconds like 5uS or 10 uS. Note that this is busy-waiting, so unlike vTaskDelay it does not allow other tasks to run (it just burns CPU cycles. Certain things do go on while the delay () function is controlling the Atmega chip, however, because the delay function does not disable interrupts. There are a thousand microseconds in a millisecond, and a million microseconds in a second. Hi! I need to synchronize 4 esp 32s with an accuracy of 20 microseconds. For delays longer than a few thousand microseconds, you should use delay () instead. After that, we will see program our ESP32 board with the ultrasonic sensor to build our water monitor web server. I also used portTICK_RATE_MS but the speed didnt change . ) to perform the delay. This tutorial explains simple PWM techniques, as well as how to use the PWM registers directly for more control over the duty cycle and frequency. g. On 16 MHz Arduino boards (e. So if your requirement is only for a 20ms delay (without needing to do anything while waiting) it is possible to call ets_delay_us (20 * 1000); Thanks! I was doing the output toggle just to see that I was actually delaying. With a normal LEDs you can. Internally, esp_timer uses a 64-bit hardware timer, where the implementation depends on the target. This is because of interactions with the millis() and delay() functions, which share the same internal timer used to generate those PWM outputs. ago. Hopefully i have not overlooked. the source i found that setting the static IP to 0,0,0,0 will in effect force the DHCP acquisition after the 50ms delay which has been added in response to this issue #5733. analogWrite (4, 5, 1000, 10, 0); analogWrite (5, 5, 1000, 10, 4); analogWrite (12, 5, 1000, 10, 8); EDIT 1: If getting all 3 signals to synchronize properly is an issue, then using the ESP32's MCPWM hardware might be an option. Peter Hinch. I’ve updated my delay library to support milliseconds and microseconds delays.