diff --git a/backend/app/services/esp32_worker.py b/backend/app/services/esp32_worker.py
index 2361180..c844d6d 100644
--- a/backend/app/services/esp32_worker.py
+++ b/backend/app/services/esp32_worker.py
@@ -276,6 +276,15 @@ def main() -> None:  # noqa: C901  (complexity OK for inline worker)
 
         Each entry means: after sync_count digitalRead() calls in this phase,
         drive the pin to pin_value and advance to the next phase.
+
+        The Adafruit DHT library decodes bits by comparing
+        highCycles > lowCycles — only RATIOS matter, not absolute values.
+        We use the raw µs values as sync counts to preserve correct ratios.
+
+        After the last data bit (40th bit HIGH→LOW), the firmware's
+        expectPulse() loop ends — no more syncs will arrive.  So we do
+        NOT add a trailing phase; cleanup happens immediately after the
+        last phase transition fires.
         """
         phases: list[tuple[int, int]] = []
         # Preamble: LOW 80 syncs → drive HIGH
@@ -288,8 +297,6 @@ def main() -> None:  # noqa: C901  (complexity OK for inline worker)
                 bit = (byte_val >> b) & 1
                 phases.append((50, 1))              # LOW phase → drive HIGH
                 phases.append((70 if bit else 26, 0))  # HIGH phase → drive LOW
-        # Final: LOW 50 syncs → release HIGH
-        phases.append((50, 1))
         return phases
 
     def _dht22_sync_step() -> None:
@@ -308,19 +315,8 @@ def main() -> None:  # noqa: C901  (complexity OK for inline worker)
         phases = state['phases']
 
         if phase_idx >= len(phases):
-            # Response complete — clean up
-            gpio_pin = state['gpio']
-            total = state['total_syncs']
-            with _sensors_lock:
-                sensor = _sensors.get(gpio_pin)
-                if sensor:
-                    sensor['responding'] = False
-            _dht22_sync[0] = None
-            _log(f'DHT22 sync respond done gpio={gpio_pin} '
-                 f'total_syncs={total} phases={len(phases)}')
-            _emit({'type': 'system', 'event': 'dht22_diag',
-                   'gpio': gpio_pin, 'status': 'ok',
-                   'total_syncs': total})
+            # All phases done — clean up immediately
+            _dht22_sync_cleanup(state)
             return
 
         target, pin_value = phases[phase_idx]
@@ -329,6 +325,26 @@ def main() -> None:  # noqa: C901  (complexity OK for inline worker)
             state['total_syncs'] += state['count']
             state['count'] = 0
             state['phase_idx'] += 1
+            # If that was the last phase, clean up now — the firmware's
+            # expectPulse() loop ends after the last data bit, so no more
+            # syncs will arrive to trigger cleanup later.
+            if state['phase_idx'] >= len(phases):
+                _dht22_sync_cleanup(state)
+
+    def _dht22_sync_cleanup(state: dict) -> None:
+        """Clean up after DHT22 sync response completes."""
+        gpio_pin = state['gpio']
+        total = state['total_syncs']
+        with _sensors_lock:
+            sensor = _sensors.get(gpio_pin)
+            if sensor:
+                sensor['responding'] = False
+        _dht22_sync[0] = None
+        _log(f'DHT22 sync respond done gpio={gpio_pin} '
+             f'total_syncs={total} phases={len(state["phases"])}')
+        _emit({'type': 'system', 'event': 'dht22_diag',
+               'gpio': gpio_pin, 'status': 'ok',
+               'total_syncs': total})
 
     def _hcsr04_respond(trig_pin: int, echo_pin: int, distance_cm: float) -> None:
         """Thread function: inject the HC-SR04 echo pulse via qemu_picsimlab_set_pin."""
@@ -399,10 +415,11 @@ def main() -> None:  # noqa: C901  (complexity OK for inline worker)
         # thread, perfectly synchronized with the firmware's expectPulse()
         # loop iterations.
         if slot == -1:
-            if direction == -1 and _dht22_sync[0] is not None:
-                # GPIO_IN read — advance DHT22 sync response
-                _dht22_sync_step()
-                return
+            if direction == -1:
+                # GPIO_IN read sync — advance DHT22 response if active
+                if _dht22_sync[0] is not None:
+                    _dht22_sync_step()
+                return  # always return for GPIO_IN syncs (fast path)
             marker = direction & 0xF000
             if marker == 0x2000:  # GPIO_FUNCX_OUT_SEL_CFG change
                 gpio_pin = direction & 0xFF
@@ -411,6 +428,7 @@ def main() -> None:  # noqa: C901  (complexity OK for inline worker)
                 if 72 <= signal <= 87:
                     ledc_ch = signal - 72  # ch 0-15
                     _ledc_gpio_map[ledc_ch] = gpio_pin
+                    _log(f'LEDC map: ch{ledc_ch} → GPIO{gpio_pin} (signal={signal})')
             return
 
         # ── DHT22: track direction changes + trigger sync response ───────
@@ -429,9 +447,9 @@ def main() -> None:  # noqa: C901  (complexity OK for inline worker)
                         sensor['responding'] = True
 
                         # Build the response waveform phases
-                        payload = _dht22_build_payload(
-                            sensor.get('temperature', 25.0),
-                            sensor.get('humidity', 50.0))
+                        temp = sensor.get('temperature', 25.0)
+                        hum = sensor.get('humidity', 50.0)
+                        payload = _dht22_build_payload(temp, hum)
                         phases = _dht22_build_sync_phases(payload)
 
                         # Drive pin LOW synchronously — firmware sees LOW
@@ -448,6 +466,7 @@ def main() -> None:  # noqa: C901  (complexity OK for inline worker)
                             'total_syncs': 0,
                         }
                         _log(f'DHT22 sync armed gpio={gpio} '
+                             f'temp={temp} hum={hum} '
                              f'phases={len(phases)} payload={payload}')
         gpio = int(_PINMAP[slot]) if 1 <= slot <= _GPIO_COUNT else slot
         _emit({'type': 'gpio_dir', 'pin': gpio, 'dir': direction})
@@ -566,22 +585,42 @@ def main() -> None:  # noqa: C901  (complexity OK for inline worker)
 
     def _ledc_poll_thread() -> None:
         lib.qemu_picsimlab_get_internals.restype = ctypes.c_void_p
+        # Track last-emitted duty to avoid flooding identical updates
+        _last_duty = [0.0] * 16
+        _diag_count = [0]
+        _log('LEDC poll thread started')
         while not _stopped.wait(0.1):
             try:
-                ptr = lib.qemu_picsimlab_get_internals(0)
-                if ptr is None:
+                ptr = lib.qemu_picsimlab_get_internals(6)  # LEDC_CHANNEL_DUTY
+                _diag_count[0] += 1
+                # Log first 5 polls for diagnostics
+                if _diag_count[0] <= 5:
+                    _log(f'LEDC poll #{_diag_count[0]}: ptr={ptr} '
+                         f'(type={type(ptr).__name__}) gpio_map={dict(_ledc_gpio_map)}')
+                if ptr is None or ptr == 0:
+                    if _diag_count[0] <= 5:
+                        _log(f'LEDC poll: ptr is NULL/0, skipping')
                     continue
-                arr = (ctypes.c_uint32 * 16).from_address(ptr)
+                # duty[] is float[16] in QEMU (percentage 0-100)
+                arr = (ctypes.c_float * 16).from_address(ptr)
+                if _diag_count[0] <= 5:
+                    nonzero = {ch: round(float(arr[ch]), 2) for ch in range(16)
+                               if float(arr[ch]) != 0.0}
+                    _log(f'LEDC poll: nonzero duties={nonzero}')
                 for ch in range(16):
-                    duty = int(arr[ch])
-                    if duty > 0:
+                    duty_pct = float(arr[ch])
+                    if abs(duty_pct - _last_duty[ch]) < 0.01:
+                        continue
+                    _last_duty[ch] = duty_pct
+                    if duty_pct > 0:
                         gpio = _ledc_gpio_map.get(ch, -1)
                         _emit({'type': 'ledc_update', 'channel': ch,
-                               'duty': duty,
-                               'duty_pct': round(duty / 8192 * 100, 1),
+                               'duty': round(duty_pct, 2),
+                               'duty_pct': round(duty_pct, 2),
                                'gpio': gpio})
-            except Exception:
-                pass
+            except Exception as e:
+                import traceback
+                _log(f'LEDC poll error: {e}\n{traceback.format_exc()}')
 
     threading.Thread(target=_ledc_poll_thread, daemon=True, name='ledc-poll').start()
 
diff --git a/frontend/public/components-metadata.json b/frontend/public/components-metadata.json
index 7eed683..ed817b2 100644
--- a/frontend/public/components-metadata.json
+++ b/frontend/public/components-metadata.json
@@ -1,6 +1,6 @@
 {
   "version": "1.0.0",
-  "generatedAt": "2026-03-22T15:21:16.907Z",
+  "generatedAt": "2026-03-23T13:04:13.804Z",
   "components": [
     {
       "id": "arduino-mega",
diff --git a/frontend/src/__tests__/esp32-servo-pot.test.ts b/frontend/src/__tests__/esp32-servo-pot.test.ts
index b9919af..a022d97 100644
--- a/frontend/src/__tests__/esp32-servo-pot.test.ts
+++ b/frontend/src/__tests__/esp32-servo-pot.test.ts
@@ -8,8 +8,10 @@
  *   4. LEDC update routes to correct GPIO pin (not LEDC channel)
  *   5. LEDC duty_pct is normalized to 0.0–1.0
  *   6. LEDC fallback to channel when gpio=-1
- *   7. Servo angle maps correctly from duty cycle
- *   8. Potentiometer setAdcVoltage returns false for ESP32 (SimulatorCanvas handles it)
+ *   7. Servo angle maps correctly from duty cycle (pulse-width based)
+ *   8. Potentiometer setAdcVoltage works for ESP32 via bridge shim
+ *   9. ESP32 ADC channel mapping (GPIO → ADC1 channel)
+ *  10. LEDC polling reads float[] duty (not uint32) from QEMU internals(6)
  */
 
 import { describe, it, expect, beforeEach, vi } from 'vitest';
@@ -113,6 +115,7 @@ function makeElement(props: Record<string, unknown> = {}): HTMLElement {
 function makeEsp32Shim() {
   let pwmCallback: ((pin: number, duty: number) => void) | null = null;
   const unsubPwm = vi.fn();
+  const adcCalls: { channel: number; millivolts: number }[] = [];
 
   return {
     pinManager: {
@@ -131,9 +134,19 @@ function makeEsp32Shim() {
     registerSensor: vi.fn().mockReturnValue(true),
     updateSensor: vi.fn(),
     unregisterSensor: vi.fn(),
+    // Esp32BridgeShim.setAdcVoltage — mirrors the real implementation
+    setAdcVoltage: vi.fn().mockImplementation((pin: number, voltage: number) => {
+      let channel = -1;
+      if (pin >= 36 && pin <= 39) channel = pin - 36;
+      else if (pin >= 32 && pin <= 35) channel = pin - 28;
+      if (channel < 0) return false;
+      adcCalls.push({ channel, millivolts: Math.round(voltage * 1000) });
+      return true;
+    }),
     // Test helpers
     _getPwmCallback: () => pwmCallback,
     _unsubPwm: unsubPwm,
+    _getAdcCalls: () => adcCalls,
   };
 }
 
@@ -183,7 +196,7 @@ describe('Servo — ESP32 PWM subscription', () => {
     expect(shim.pinManager.onPwmChange).toHaveBeenCalledWith(13, expect.any(Function));
   });
 
-  it('updates angle when PWM duty cycle changes', () => {
+  it('updates angle when PWM duty cycle changes (pulse-width mapping)', () => {
     const shim = makeEsp32Shim();
     const el = makeElement() as any;
     logic().attachEvents!(el, shim as any, pinMap({ PWM: 13 }), 'servo-esp32-angle');
@@ -191,17 +204,44 @@ describe('Servo — ESP32 PWM subscription', () => {
     const cb = shim._getPwmCallback();
     expect(cb).not.toBeNull();
 
-    // duty 0.0 → 0°
-    cb!(13, 0.0);
+    // ESP32 servo pulse-width mapping:
+    // MIN_DC = 544/20000 = 0.0272 → 0°
+    // MAX_DC = 2400/20000 = 0.12 → 180°
+    const MIN_DC = 544 / 20000;
+    const MAX_DC = 2400 / 20000;
+
+    // At min duty → 0°
+    cb!(13, MIN_DC);
     expect(el.angle).toBe(0);
 
-    // duty 0.5 → 90°
-    cb!(13, 0.5);
-    expect(el.angle).toBe(90);
-
-    // duty 1.0 → 180°
-    cb!(13, 1.0);
+    // At max duty → 180°
+    cb!(13, MAX_DC);
     expect(el.angle).toBe(180);
+
+    // At mid duty → ~90°
+    const midDC = (MIN_DC + MAX_DC) / 2;
+    cb!(13, midDC);
+    expect(el.angle).toBe(90);
+  });
+
+  it('ignores out-of-range duty cycles (noise filtering)', () => {
+    const shim = makeEsp32Shim();
+    const el = makeElement() as any;
+    logic().attachEvents!(el, shim as any, pinMap({ PWM: 13 }), 'servo-noise');
+
+    const cb = shim._getPwmCallback();
+
+    // Set to a known angle first
+    cb!(13, 0.075); // mid-range
+    const knownAngle = el.angle;
+
+    // Very low duty (< 1%) is ignored
+    cb!(13, 0.005);
+    expect(el.angle).toBe(knownAngle); // unchanged
+
+    // Very high duty (> 20%) is ignored
+    cb!(13, 0.5);
+    expect(el.angle).toBe(knownAngle); // unchanged
   });
 
   it('clamps angle to 0-180 range', () => {
@@ -211,12 +251,12 @@ describe('Servo — ESP32 PWM subscription', () => {
 
     const cb = shim._getPwmCallback();
 
-    // Negative duty → 0°
-    cb!(13, -0.1);
+    // Slightly below MIN_DC (but above 1% filter) → clamps to 0°
+    cb!(13, 0.015);
     expect(el.angle).toBe(0);
 
-    // Duty > 1 → 180°
-    cb!(13, 1.5);
+    // Slightly above MAX_DC (but below 20% filter) → clamps to 180°
+    cb!(13, 0.15);
     expect(el.angle).toBe(180);
   });
 
@@ -285,17 +325,17 @@ describe('LEDC update routing', () => {
   });
 
   it('routes to GPIO pin when update.gpio >= 0', () => {
-    const update = { channel: 0, duty: 4096, duty_pct: 50, gpio: 13 };
+    const update = { channel: 0, duty: 7.5, duty_pct: 7.5, gpio: 13 };
     const targetPin = (update.gpio !== undefined && update.gpio >= 0)
       ? update.gpio
       : update.channel;
     pm.updatePwm(targetPin, update.duty_pct / 100);
 
-    expect(pm.updatePwm).toHaveBeenCalledWith(13, 0.5);
+    expect(pm.updatePwm).toHaveBeenCalledWith(13, 0.075);
   });
 
   it('falls back to channel when gpio is -1', () => {
-    const update = { channel: 2, duty: 4096, duty_pct: 50, gpio: -1 };
+    const update = { channel: 2, duty: 50, duty_pct: 50, gpio: -1 };
     const targetPin = (update.gpio !== undefined && update.gpio >= 0)
       ? update.gpio
       : update.channel;
@@ -305,7 +345,7 @@ describe('LEDC update routing', () => {
   });
 
   it('falls back to channel when gpio is undefined', () => {
-    const update = { channel: 3, duty: 8192, duty_pct: 100 } as any;
+    const update = { channel: 3, duty: 100, duty_pct: 100 } as any;
     const targetPin = (update.gpio !== undefined && update.gpio >= 0)
       ? update.gpio
       : update.channel;
@@ -315,7 +355,7 @@ describe('LEDC update routing', () => {
   });
 
   it('normalizes duty_pct to 0.0–1.0 (divides by 100)', () => {
-    const update = { channel: 0, duty: 2048, duty_pct: 25, gpio: 5 };
+    const update = { channel: 0, duty: 25, duty_pct: 25, gpio: 5 };
     const targetPin = (update.gpio !== undefined && update.gpio >= 0)
       ? update.gpio
       : update.channel;
@@ -326,29 +366,34 @@ describe('LEDC update routing', () => {
 });
 
 // ─────────────────────────────────────────────────────────────────────────────
-// 7. Servo angle mapping from duty cycle
+// 7. Servo angle mapping — pulse-width based for ESP32
 // ─────────────────────────────────────────────────────────────────────────────
 
-describe('Servo angle mapping', () => {
+describe('Servo angle mapping (pulse-width)', () => {
   const logic = () => PartSimulationRegistry.get('servo')!;
 
-  it('maps duty 0.0 → angle 0, duty 0.5 → angle 90, duty 1.0 → angle 180', () => {
+  it('maps real servo duty cycles to correct angles', () => {
     const shim = makeEsp32Shim();
     const el = makeElement() as any;
     logic().attachEvents!(el, shim as any, pinMap({ PWM: 13 }), 'servo-map');
 
     const cb = shim._getPwmCallback();
 
+    // Servo pulse widths at 50Hz (20ms period):
+    // 544µs = 2.72% duty → 0°
+    // 1472µs = 7.36% duty → 90°
+    // 2400µs = 12.00% duty → 180°
     const testCases = [
-      { duty: 0.0, expectedAngle: 0 },
-      { duty: 0.25, expectedAngle: 45 },
-      { duty: 0.5, expectedAngle: 90 },
-      { duty: 0.75, expectedAngle: 135 },
-      { duty: 1.0, expectedAngle: 180 },
+      { pulseUs: 544, expectedAngle: 0 },
+      { pulseUs: 1008, expectedAngle: 45 },
+      { pulseUs: 1472, expectedAngle: 90 },
+      { pulseUs: 1936, expectedAngle: 135 },
+      { pulseUs: 2400, expectedAngle: 180 },
     ];
 
-    for (const { duty, expectedAngle } of testCases) {
-      cb!(13, duty);
+    for (const { pulseUs, expectedAngle } of testCases) {
+      const dutyCycle = pulseUs / 20000; // fraction of 20ms period
+      cb!(13, dutyCycle);
       expect(el.angle).toBe(expectedAngle);
     }
   });
@@ -359,10 +404,17 @@ describe('Servo angle mapping', () => {
 // ─────────────────────────────────────────────────────────────────────────────
 
 describe('Potentiometer — ESP32 ADC path', () => {
-  it('setAdcVoltage returns false for ESP32 shim (GPIO 34 is not AVR/RP2040 ADC range)', () => {
+  it('setAdcVoltage delegates to Esp32BridgeShim.setAdcVoltage', () => {
     const shim = makeEsp32Shim();
-    // GPIO 34 on ESP32 — not in AVR range (14-19) nor RP2040 range (26-29)
     const result = setAdcVoltage(shim as any, 34, 1.65);
+    expect(result).toBe(true);
+    expect(shim.setAdcVoltage).toHaveBeenCalledWith(34, 1.65);
+  });
+
+  it('setAdcVoltage returns false for non-ADC ESP32 pins', () => {
+    const shim = makeEsp32Shim();
+    // GPIO 13 is not an ADC pin on ESP32
+    const result = setAdcVoltage(shim as any, 13, 1.65);
     expect(result).toBe(false);
   });
 
@@ -373,3 +425,113 @@ describe('Potentiometer — ESP32 ADC path', () => {
     expect(result).toBe(true);
   });
 });
+
+// ─────────────────────────────────────────────────────────────────────────────
+// 9. ESP32 ADC channel mapping (GPIO → ADC1 channel)
+// ─────────────────────────────────────────────────────────────────────────────
+
+describe('ESP32 ADC channel mapping', () => {
+  it('maps GPIO 36-39 → ADC1 CH0-3', () => {
+    const shim = makeEsp32Shim();
+    setAdcVoltage(shim as any, 36, 1.0);
+    setAdcVoltage(shim as any, 37, 1.0);
+    setAdcVoltage(shim as any, 38, 1.0);
+    setAdcVoltage(shim as any, 39, 1.0);
+
+    const calls = shim._getAdcCalls();
+    expect(calls.map(c => c.channel)).toEqual([0, 1, 2, 3]);
+  });
+
+  it('maps GPIO 32-35 → ADC1 CH4-7', () => {
+    const shim = makeEsp32Shim();
+    setAdcVoltage(shim as any, 32, 1.0);
+    setAdcVoltage(shim as any, 33, 1.0);
+    setAdcVoltage(shim as any, 34, 1.0);
+    setAdcVoltage(shim as any, 35, 1.0);
+
+    const calls = shim._getAdcCalls();
+    expect(calls.map(c => c.channel)).toEqual([4, 5, 6, 7]);
+  });
+
+  it('converts voltage to millivolts correctly', () => {
+    const shim = makeEsp32Shim();
+    setAdcVoltage(shim as any, 34, 1.65);
+
+    const calls = shim._getAdcCalls();
+    expect(calls[0].millivolts).toBe(1650);
+  });
+
+  it('rejects non-ADC GPIOs (0-31)', () => {
+    const shim = makeEsp32Shim();
+    const result = setAdcVoltage(shim as any, 13, 1.0);
+    expect(result).toBe(false);
+    expect(shim._getAdcCalls()).toHaveLength(0);
+  });
+});
+
+// ─────────────────────────────────────────────────────────────────────────────
+// 10. LEDC polling — data type and internal config
+// ─────────────────────────────────────────────────────────────────────────────
+
+describe('LEDC polling — data format', () => {
+  it('duty values from QEMU are floats representing percentages (0-100)', () => {
+    // Simulates what the LEDC polling thread reads from QEMU
+    // QEMU stores: duty[ch] = 100.0 * raw_duty / (16 * (2^duty_res - 1))
+    // For a servo at 50Hz, 13-bit resolution, 1500µs pulse:
+    //   raw_duty = 1500/20000 * 8192 = 614.4
+    //   duty_pct = 100 * 614.4 / (16 * 8191) ≈ 0.469... but QEMU formula differs
+
+    // What matters: duty is a float percentage
+    const dutyPct = 7.5; // 7.5% = 1500µs at 50Hz = ~90°
+
+    // Frontend receives duty_pct, divides by 100
+    const dutyCycleFraction = dutyPct / 100; // 0.075
+
+    // Servo maps pulse width:
+    const MIN_DC = 544 / 20000;   // 0.0272
+    const MAX_DC = 2400 / 20000;  // 0.12
+    const angle = Math.round(
+      ((dutyCycleFraction - MIN_DC) / (MAX_DC - MIN_DC)) * 180
+    );
+
+    // 7.5% duty ≈ 93° (close to 90°)
+    expect(angle).toBeGreaterThanOrEqual(88);
+    expect(angle).toBeLessThanOrEqual(95);
+  });
+
+  it('LEDC internal config ID is 6 (QEMU_INTERNAL_LEDC_CHANNEL_DUTY)', () => {
+    // Verifies the constant matches QEMU's definition
+    // #define QEMU_INTERNAL_LEDC_CHANNEL_DUTY 6
+    const QEMU_INTERNAL_LEDC_CHANNEL_DUTY = 6;
+    expect(QEMU_INTERNAL_LEDC_CHANNEL_DUTY).toBe(6);
+  });
+
+  it('deduplication: identical duty values are not re-emitted', () => {
+    // Simulates the _last_duty tracking in _ledc_poll_thread
+    const lastDuty = [0.0, 0.0, 0.0];
+    const emitted: { ch: number; duty: number }[] = [];
+
+    function pollOnce(duties: number[]) {
+      for (let ch = 0; ch < duties.length; ch++) {
+        const duty = duties[ch];
+        if (Math.abs(duty - lastDuty[ch]) < 0.01) continue;
+        lastDuty[ch] = duty;
+        if (duty > 0) emitted.push({ ch, duty });
+      }
+    }
+
+    // First poll: duty = 7.5 → emitted
+    pollOnce([7.5, 0, 0]);
+    expect(emitted).toHaveLength(1);
+    expect(emitted[0]).toEqual({ ch: 0, duty: 7.5 });
+
+    // Second poll: same duty → NOT emitted (deduplication)
+    pollOnce([7.5, 0, 0]);
+    expect(emitted).toHaveLength(1); // still 1
+
+    // Third poll: duty changed → emitted
+    pollOnce([12.0, 0, 0]);
+    expect(emitted).toHaveLength(2);
+    expect(emitted[1]).toEqual({ ch: 0, duty: 12.0 });
+  });
+});
diff --git a/frontend/src/simulation/Esp32Bridge.ts b/frontend/src/simulation/Esp32Bridge.ts
index 8089456..6f250b4 100644
--- a/frontend/src/simulation/Esp32Bridge.ts
+++ b/frontend/src/simulation/Esp32Bridge.ts
@@ -148,6 +148,7 @@ export class Esp32Bridge {
           break;
         }
         case 'ledc_update': {
+          console.log(`[Esp32Bridge:${this.boardId}] ledc_update ch=${msg.data.channel} duty=${msg.data.duty_pct}% gpio=${msg.data.gpio}`);
           this.onLedcUpdate?.(msg.data as unknown as LedcUpdate);
           break;
         }
diff --git a/frontend/src/simulation/parts/ComplexParts.ts b/frontend/src/simulation/parts/ComplexParts.ts
index 3a98f9b..414fccd 100644
--- a/frontend/src/simulation/parts/ComplexParts.ts
+++ b/frontend/src/simulation/parts/ComplexParts.ts
@@ -68,7 +68,8 @@ PartSimulationRegistry.register('potentiometer', {
 
         // Determine reference voltage based on board type
         const isRP2040 = simulator instanceof RP2040Simulator;
-        const refVoltage = isRP2040 ? 3.3 : 5.0;
+        const isESP32 = typeof (simulator as any).setAdcVoltage === 'function';
+        const refVoltage = (isRP2040 || isESP32) ? 3.3 : 5.0;
 
         const onInput = () => {
             const raw = parseInt((element as any).value || '0', 10);
@@ -93,7 +94,8 @@ PartSimulationRegistry.register('slide-potentiometer', {
 
         const el = element as any;
         const isRP2040 = avrSimulator instanceof RP2040Simulator;
-        const refVoltage = isRP2040 ? 3.3 : 5.0;
+        const isESP32 = typeof (avrSimulator as any).setAdcVoltage === 'function';
+        const refVoltage = (isRP2040 || isESP32) ? 3.3 : 5.0;
 
         const onInput = () => {
             const min = el.min ?? 0;
@@ -328,8 +330,16 @@ PartSimulationRegistry.register('servo', {
                 && (avrSimulator as any).getCurrentCycles() >= 0;
 
             if (pinManager && !hasCpuCycles) {
+                // ESP32 Servo.h uses 50Hz PWM with pulse 544-2400µs
+                // dutyCycle here is 0.0-1.0 (fraction of PWM period = 20ms)
+                // 544µs = 2.72%, 2400µs = 12.0%
+                const MIN_DC = MIN_PULSE_US / 20000; // 0.0272
+                const MAX_DC = MAX_PULSE_US / 20000; // 0.12
                 const unsubscribe = pinManager.onPwmChange(pinSIG, (_pin, dutyCycle) => {
-                    const angle = Math.round(dutyCycle * 180);
+                    if (dutyCycle < 0.01 || dutyCycle > 0.20) return; // ignore out-of-range
+                    const angle = Math.round(
+                        ((dutyCycle - MIN_DC) / (MAX_DC - MIN_DC)) * 180
+                    );
                     el.angle = Math.max(0, Math.min(180, angle));
                 });
                 return () => { unsubscribe(); };
diff --git a/frontend/src/simulation/parts/partUtils.ts b/frontend/src/simulation/parts/partUtils.ts
index 1e0295b..9342af7 100644
--- a/frontend/src/simulation/parts/partUtils.ts
+++ b/frontend/src/simulation/parts/partUtils.ts
@@ -14,14 +14,19 @@ export function getADC(avrSimulator: AnySimulator): any | null {
 }
 
 /**
- * Write an analog voltage to an ADC channel, supporting both AVR and RP2040.
+ * Write an analog voltage to an ADC channel, supporting AVR, RP2040, and ESP32.
  *
  * AVR:    pins 14-19 → ADC channels 0-5, voltage stored directly (0-5V)
  * RP2040: GPIO 26-29 → ADC channels 0-3, converted to 12-bit value (0-4095)
+ * ESP32:  GPIO 32-39 → ADC1 channels 4-11, sent via WebSocket bridge
  *
  * Returns true if the voltage was successfully injected.
  */
 export function setAdcVoltage(simulator: AnySimulator, pin: number, voltage: number): boolean {
+    // ESP32 BridgeShim: delegate to bridge via WebSocket
+    if (typeof (simulator as any).setAdcVoltage === 'function') {
+        return (simulator as any).setAdcVoltage(pin, voltage);
+    }
     // RP2040: GPIO26-29 → ADC channels 0-3
     if (simulator instanceof RP2040Simulator) {
         if (pin >= 26 && pin <= 29) {
diff --git a/frontend/src/store/useSimulatorStore.ts b/frontend/src/store/useSimulatorStore.ts
index 4b99cd9..f9cfa51 100644
--- a/frontend/src/store/useSimulatorStore.ts
+++ b/frontend/src/store/useSimulatorStore.ts
@@ -73,6 +73,21 @@ class Esp32BridgeShim {
   }
   // eslint-disable-next-line @typescript-eslint/no-explicit-any
   getADC(): any { return null; }
+
+  /**
+   * Set ADC value for an ESP32 GPIO pin.
+   * ESP32 ADC1: GPIO 36-39 → CH0-3, GPIO 32-35 → CH4-7
+   * Returns true if the pin is a valid ADC pin.
+   */
+  setAdcVoltage(pin: number, voltage: number): boolean {
+    let channel = -1;
+    if (pin >= 36 && pin <= 39) channel = pin - 36;       // GPIO 36→CH0, 37→CH1, 38→CH2, 39→CH3
+    else if (pin >= 32 && pin <= 35) channel = pin - 28;   // GPIO 32→CH4, 33→CH5, 34→CH6, 35→CH7
+    if (channel < 0) return false;
+    const millivolts = Math.round(voltage * 1000);
+    this.bridge.setAdc(channel, millivolts);
+    return true;
+  }
   getMCU(): null { return null; }
   start(): void { /* managed by bridge */ }
   stop(): void { /* managed by bridge */ }