#include <ESP32Servo.h>

const int pinServo1 = 13;
const int pinServo2 = 12;

Servo servo1;
Servo servo2;

volatile float setup_servo1 = 10.0;
volatile float setup_servo2 = 100.0;

hw_timer_t *timer1 = NULL;
hw_timer_t *timer2 = NULL;
portMUX_TYPE timerMUX = portMUX_INITIALIZER_UNLOCKED;

void IRAM_ATTR servo1_run(){
  portENTER_CRITICAL_ISR(&timerMUX);
  if(setup_servo1 <= 150){
    setup_servo1 += (((150.0-10.0)/5000.0)*10.0);
    servo1.write(setup_servo1);
  }
  portEXIT_CRITICAL_ISR(&timerMUX);
}

void IRAM_ATTR servo2_run(){
  portENTER_CRITICAL_ISR(&timerMUX);
  if(setup_servo2 >= 50){
    setup_servo2 -= (((100.0-50.0)/5000.0)*10.0);
    servo2.write(setup_servo2);
  }
  portEXIT_CRITICAL_ISR(&timerMUX);
}

void setup() {
  // put your setup code here, to run once:
  Serial.begin(9600);
  servo1.attach(pinServo1);
  servo2.attach(pinServo2);

  servo1.write(setup_servo1);
  servo2.write(setup_servo2);

  timer1 = timerBegin(0, 80, true);
  timerAttachInterrupt(timer1, &servo1_run, true);
  timerAlarmWrite(timer1, 10000, true);
  timerAlarmEnable(timer1);

  timer2 = timerBegin(1, 80, true);
  timerAttachInterrupt(timer2, &servo2_run, true); 
  timerAlarmWrite(timer2, 10000, true);
  timerAlarmEnable(timer2);
  
}

void loop() {

}