Robot Arm, V2

So I wanted to do the first version of the arm, but I forgot to log all the hours, so here we go again. Anyways this version is gonna be way better. I am using an ESP32 as the brain, instead of the arduino mega. My original version was controlled by potentiometers, but I wanna use this PS5 controller that I modded a while back to control it. Currently, I’m figuring out how to code this thing to run the five or six servos that I need for the joints. I already designed a few things, plus did a tiny bit of code, but nothing too big is here yet.