Try to use the new ESP32_ISR_Servo that can fix the issue
Your code rewritten using that library is below:
#ifndef ESP32
#error This code is designed to run on ESP32 platform, not Arduino nor ESP8266! Please check your Tools->Board setting.
#endif
#define BLYNK_PRINT Serial
//See file .../hardware/espressif/esp32/variants/(esp32|doitESP32devkitV1)/pins_arduino.h
#define LED_BUILTIN 2 // Pin D2 mapped to pin GPIO2/ADC12 of ESP32, control on-board LED
#define PIN_LED 2 // Pin D2 mapped to pin GPIO2/ADC12 of ESP32, control on-board LED
#define PIN_D0 0 // Pin D0 mapped to pin GPIO0/BOOT/ADC11/TOUCH1 of ESP32
#define PIN_D1 1 // Pin D1 mapped to pin GPIO1/TX0 of ESP32
#define PIN_D2 2 // Pin D2 mapped to pin GPIO2/ADC12/TOUCH2 of ESP32
#define PIN_D3 3 // Pin D3 mapped to pin GPIO3/RX0 of ESP32
#define PIN_D4 4 // Pin D4 mapped to pin GPIO4/ADC10/TOUCH0 of ESP32
#define PIN_D5 5 // Pin D5 mapped to pin GPIO5/SPISS/VSPI_SS of ESP32
#define PIN_D6 6 // Pin D6 mapped to pin GPIO6/FLASH_SCK of ESP32
#define PIN_D7 7 // Pin D7 mapped to pin GPIO7/FLASH_D0 of ESP32
#define PIN_D8 8 // Pin D8 mapped to pin GPIO8/FLASH_D1 of ESP32
#define PIN_D9 9 // Pin D9 mapped to pin GPIO9/FLASH_D2 of ESP32
#define PIN_D10 10 // Pin D10 mapped to pin GPIO10/FLASH_D3 of ESP32
#define PIN_D11 11 // Pin D11 mapped to pin GPIO11/FLASH_CMD of ESP32
#define PIN_D12 12 // Pin D12 mapped to pin GPIO12/HSPI_MISO/ADC15/TOUCH5/TDI of ESP32
#define PIN_D13 13 // Pin D13 mapped to pin GPIO13/HSPI_MOSI/ADC14/TOUCH4/TCK of ESP32
#define PIN_D14 14 // Pin D14 mapped to pin GPIO14/HSPI_SCK/ADC16/TOUCH6/TMS of ESP32
#define PIN_D15 15 // Pin D15 mapped to pin GPIO15/HSPI_SS/ADC13/TOUCH3/TDO of ESP32
#define PIN_D16 16 // Pin D16 mapped to pin GPIO16/TX2 of ESP32
#define PIN_D17 17 // Pin D17 mapped to pin GPIO17/RX2 of ESP32
#define PIN_D18 18 // Pin D18 mapped to pin GPIO18/VSPI_SCK of ESP32
#define PIN_D19 19 // Pin D19 mapped to pin GPIO19/VSPI_MISO of ESP32
#define PIN_D21 21 // Pin D21 mapped to pin GPIO21/SDA of ESP32
#define PIN_D22 22 // Pin D22 mapped to pin GPIO22/SCL of ESP32
#define PIN_D23 23 // Pin D23 mapped to pin GPIO23/VSPI_MOSI of ESP32
#define PIN_D24 24 // Pin D24 mapped to pin GPIO24 of ESP32
#define PIN_D25 25 // Pin D25 mapped to pin GPIO25/ADC18/DAC1 of ESP32
#define PIN_D26 26 // Pin D26 mapped to pin GPIO26/ADC19/DAC2 of ESP32
#define PIN_D27 27 // Pin D27 mapped to pin GPIO27/ADC17/TOUCH7 of ESP32
#define PIN_D32 32 // Pin D32 mapped to pin GPIO32/ADC4/TOUCH9 of ESP32
#define PIN_D33 33 // Pin D33 mapped to pin GPIO33/ADC5/TOUCH8 of ESP32
#define PIN_D34 34 // Pin D34 mapped to pin GPIO34/ADC6 of ESP32
#define PIN_D35 35 // Pin D35 mapped to pin GPIO35/ADC7 of ESP32
#define PIN_D36 36 // Pin D36 mapped to pin GPIO36/ADC0/SVP of ESP32
#define PIN_D39 39 // Pin D39 mapped to pin GPIO39/ADC3/SVN of ESP32
#define PIN_RX0 3 // Pin RX0 mapped to pin GPIO3/RX0 of ESP32
#define PIN_TX0 1 // Pin TX0 mapped to pin GPIO1/TX0 of ESP32
#define PIN_SCL 22 // Pin SCL mapped to pin GPIO22/SCL of ESP32
#define PIN_SDA 21 // Pin SDA mapped to pin GPIO21/SDA of ESP32
#define USE_SPIFFS true
//#define USE_SPIFFS false
//#define USE_BLYNK_WM true // https://github.com/khoih-prog/Blynk_WM
#define USE_BLYNK_WM false
//LIBRARIES INCLUDED
#include <WiFi.h>
#include <WiFiClient.h>
#if USE_BLYNK_WM
#include <BlynkSimpleEsp32_WM.h> // https://github.com/khoih-prog/Blynk_WM
#else
#include <BlynkSimpleEsp32.h>
//BLYNK AUTHENTICATION TOKEN
char auth[] = "******";
// MY WIFI CREDENTIALS
char ssid[] = "****";
char pass[] = "****";
#endif
#include <DHT.h>
#define USE_ESP32_ISR_SERVO true
#if USE_ESP32_ISR_SERVO
#define TIMER_INTERRUPT_DEBUG 1
#define ISR_SERVO_DEBUG 1
// Select different ESP32 timer number (0-3) to avoid conflict
#define USE_ESP32_TIMER_NO 3
#include "ESP32_ISR_Servo.h"
// MG996R servo has a running current of 500mA to 900mA @6V and a stall current of 2.5A @ 6V
// Power supply must be adequate
// Published values for SG90 servos; adjust if needed
#define MIN_MICROS 800 //544
#define MAX_MICROS 2450
int servoIndex1 = -1;
int servoIndex2 = -1;
int servoIndex3 = -1;
int servo1Pin = PIN_D25; //SERVO1 PIN
int servo2Pin = PIN_D26; //SERVO2 PIN
int servo3Pin = PIN_D27; //SERVO3 PIN
#else
#include <ESP32Servo.h>
//SERVO INSTANCE
Servo servo1; //SERVO1
Servo servo2; //SERVO2
Servo servo3; //SERVO3
int minUs = 1000;
int maxUs = 2000;
int servo1Pin = 18; //SERVO1 PIN
int servo2Pin = 19; //SERVO2 PIN
int servo3Pin = 21; //SERVO3 PIN
ESP32PWM pwm;
#endif
// DHT INSTANCE
#define DHTPIN 27
#define DHTTYPE DHT11
DHT dht(DHTPIN, DHTTYPE);
BlynkTimer timer;
//DECLARATION OF VARIABLES
#define rain 32
#define ldr 33
#define gas 35
#define pir 26
#define buzzer 5
int pir_value;
int pir_check;
int ldr_value;
int rain_value;
int gas_value;
bool Connected2Blynk = false;
//FUNCTIONS
void send_values()
{
sendrain_value();
sendldr_value();
sendgas_value();
sendtemp_value();
}
//DHT TEMPERATURE
void sendtemp_value()
{
float temp_value = dht.readTemperature();
Blynk.virtualWrite(V1, temp_value);
}
//RAIN
void sendrain_value()
{
rain_value = analogRead(rain);
rain_value = map(rain_value, 1, 4095, 1, 100);
Blynk.virtualWrite(V2, rain_value);
}
//LDR
void sendldr_value()
{
ldr_value = analogRead(ldr);
ldr_value = map(ldr_value, 0, 4095, 0, 100);
Blynk.virtualWrite(V3, ldr_value);
}
//ULTRASONIC
void sendgas_value()
{
gas_value = analogRead(gas);
Blynk.virtualWrite(V4, gas_value);
}
//PIR
BLYNK_WRITE(V5)
{
pir_check = param.asInt();
Serial.print("PIR CHECK: ");
Serial.println(pir_check);
}
//READING FROM VIRTUAL PINS
// SERVO1
BLYNK_WRITE(V6)
{
#if USE_ESP32_ISR_SERVO
ESP32_ISR_Servos.setPosition(servoIndex1, param.asInt());
#else
// Too much work inside BLYNK_WRITE()
servo1.attach(servo1Pin, minUs, maxUs);
servo1.write(param.asInt());
servo1.detach();
#endif
}
//SERVO2
BLYNK_WRITE(V7)
{
#if USE_ESP32_ISR_SERVO
ESP32_ISR_Servos.setPosition(servoIndex2, param.asInt());
#else
// Too much work inside BLYNK_WRITE()
servo2.attach(servo2Pin, minUs, maxUs);
servo2.write(param.asInt());
servo2.detach();
#endif
}
//SERVO3
BLYNK_WRITE(V8)
{
#if USE_ESP32_ISR_SERVO
ESP32_ISR_Servos.setPosition(servoIndex3, param.asInt());
#else
// Too much work inside BLYNK_WRITE()
servo3.attach(servo3Pin, minUs, maxUs);
servo3.write(param.asInt());
servo3.detach();
#endif
}
//PIR Alarm
void pir_alarm()
{
if (pir_check == 1)
{
pir_value = digitalRead(pir);
Serial.print("PIR VALUE: ");
Serial.println(pir_value);
if (pir_value == 1)
{
digitalWrite(buzzer, HIGH);
}
else
{
digitalWrite(buzzer, LOW);
}
}
}
//VOID SETUP
void setup()
{
// Debug console
Serial.begin(115200);
Serial.println("\nStarting");
dht.begin();
#if USE_BLYNK_WM
Blynk.begin();
#else
Blynk.begin(auth, ssid, pass);
#endif
// 1s timer to check PIR alarm
timer.setInterval(1000, pir_alarm);
// Change to 10s timer
timer.setInterval(10000, send_values);
//timer.setInterval(1000, sendrain_value);
//timer.setInterval(1000, sendldr_value);
//timer.setInterval(1000, sendgas_value);
//timer.setInterval(1000, sendtemp_value);
pinMode(pir, INPUT);
pinMode(rain, INPUT);
pinMode(ldr, INPUT);
pinMode(gas, INPUT);
pinMode(buzzer, OUTPUT);
#if USE_ESP32_ISR_SERVO
//Select ESP32 timer USE_ESP32_TIMER_NO
ESP32_ISR_Servos.useTimer(USE_ESP32_TIMER_NO);
servoIndex1 = ESP32_ISR_Servos.setupServo(servo1Pin, MIN_MICROS, MAX_MICROS);
servoIndex2 = ESP32_ISR_Servos.setupServo(servo2Pin, MIN_MICROS, MAX_MICROS);
servoIndex3 = ESP32_ISR_Servos.setupServo(servo3Pin, MIN_MICROS, MAX_MICROS);
if (servoIndex1 != -1)
Serial.println("Setup Servo1 OK");
else
Serial.println("Setup Servo1 failed");
if (servoIndex2 != -1)
Serial.println("Setup Servo2 OK");
else
Serial.println("Setup Servo2 failed");
if (servoIndex3 != -1)
Serial.println("Setup Servo3 OK");
else
Serial.println("Setup Servo3 failed");
#else
servo1.setPeriodHertz(50);
servo2.setPeriodHertz(50);
servo3.setPeriodHertz(330);
#endif
}
//VOID LOOP RUNS CONTINUOUSLY THROUGH OUT THE PROGRAM
void loop()
{
Blynk.run();
timer.run();
#if 0
//EXTRA CODE FOR PIR SHOULD BE REMOVED FROM LOOP
if (pir_check == 1)
{
pir_value = digitalRead(pir);
Serial.print("PIR VALUE: ");
Serial.println(pir_value);
if (pir_value == 1)
{
digitalWrite(buzzer, HIGH);
}
else
{
digitalWrite(buzzer, LOW);
}
}
#endif
}
I change the servo pins to different ones to test and OK so far (on SG90 servo as I don’t have MG996R). Remember to use very good power supply for those servos as they are using high current to achieve high torque.
int servo1Pin = PIN_D25; //SERVO1 PIN
int servo2Pin = PIN_D26; //SERVO2 PIN
int servo3Pin = PIN_D27; //SERVO3 PIN
Adjust these values UP and DOWN to achieve the best and accurate results
#define MIN_MICROS 800 //544
#define MAX_MICROS 2450
Good luck and remember to post test results, good or bad.