SUPER PROMPT FOR QWEN3.6-PLUS

Act as an expert embedded systems engineer. Generate a complete, production-ready Arduino sketch for a closed-loop DC motor speed controller using the following exact specifications:

🔹 HARDWARE SETUP
- MCU: Seeed Studio XIAO ESP32-C3
- Encoder: OSEPP DC Motor Encoder (Channel A only)
- Motor Driver: 2-pin DC driver (PWM input + Direction input)
- Potentiometer: 10kΩ linear, used for target speed input
- Display: 0.91" I2C OLED (128x32 SSD1306)

🔹 PIN MAPPING (XIAO Dx Aliases)
- Encoder A → D1 (GPIO3, interrupt-capable)
- Motor PWM → D2 (GPIO4)
- Motor DIR → D3 (GPIO6)
- Pot Wiper → D0 (GPIO2, ADC-capable)
- OLED SDA → D4 (GPIO5)
- OLED SCL → D5 (GPIO7)
⚠️ CRITICAL: All logic components (Encoder, Pot) MUST be powered at 3.3V. ESP32-C3 GPIO pins are NOT 5V tolerant.

🔹 CODE REQUIREMENTS
1. Libraries: `Wire.h`, `Adafruit_GFX.h`, `Adafruit_SSD1306.h`
2. Force 12-bit ADC: `analogReadResolution(12)`
3. Explicit I2C init: `Wire.begin(OLED_SDA, OLED_SCL)`
4. Encoder: Interrupt-driven on rising edge with `micros()` debounce (≥800µs)
5. Speed Calc: 250ms sampling window, convert pulses → RPM → BPM. Apply exponential smoothing (0.8/0.2)
6. PID Control: 
   - Default gains: KP=1.5, KI=0.8, KD=0.1
   - Anti-windup: ±500
   - Reset integral when target < 1.0 BPM
   - Scale KI/KD to time units
7. Motor Driver Logic: 
   - Inverted PWM: 0 = full speed, 255 = stop (hardcoded `INVERT_PWM = true`)
   - Active braking: Pull DIR LOW when target = 0
8. OLED UI (128x32): 
   - `setTextSize(1)`, integer values only
   - Line 1 (y=0): "TGT: XX BPM"
   - Line 2 (y=11): "ACT: XX BPM"
   - Line 3 (y=22): "PWR: XX%"
9. Serial Debug: Print every 500ms: Pot raw, Target BPM, Actual BPM, PWM%

🔹 DELIVERABLES
1. Complete, ready-to-upload Arduino sketch matching all specs
2. Concise calibration & troubleshooting checklist covering:
   - How to verify `PULSES_PER_REV`
   - PID tuning steps
   - Noise mitigation (0.1µF cap placement)
   - Driver logic inversion fallback
   - 3.3V vs 5V wiring warning

Ensure code is heavily commented, uses non-blocking timing, and compiles cleanly on ESP32 Arduino Core 3.0+.