Hi, am trying to run the MPU6050 with an ESP32 and have found the code and downloaded all the libraries. However, the code doesn’t compile when I change board from Arduino to ESP32 . Error posted in full below.

Arduino: 1.8.10 (Windows 10), Board: "DOIT ESP32 DEVKIT V1, 80MHz, 921600, None"
C:\Users\61426\Documents\Arduino\libraries\I2Cdev\I2Cdev.cpp: In static member function 'static int8_t I2Cdev::readBytes(uint8_t, uint8_t, uint8_t, uint8_t*, uint16_t)':
C:\Users\61426\Documents\Arduino\libraries\I2Cdev\I2Cdev.cpp:276:62: error: 'BUFFER_LENGTH' was not declared in this scope
for (uint8_t k = 0; k < length; k += min(length, BUFFER_LENGTH)) {
^
C:\Users\61426\Documents\Arduino\libraries\I2Cdev\I2Cdev.cpp: In static member function 'static int8_t I2Cdev::readWords(uint8_t, uint8_t, uint8_t, uint16_t*, uint16_t)':
C:\Users\61426\Documents\Arduino\libraries\I2Cdev\I2Cdev.cpp:414:70: error: 'BUFFER_LENGTH' was not declared in this scope
for (uint8_t k = 0; k < length * 2; k += min(length * 2, BUFFER_LENGTH)) {
^
Multiple libraries were found for "I2Cdev.h"
Used: C:\Users\61426\Documents\Arduino\libraries\I2Cdev
Multiple libraries were found for "Wire.h"
Used: C:\Users\61426\AppData\Local\Arduino15\packages\esp32\hardware\esp32\1.0.4\libraries\Wire
Multiple libraries were found for "MPU6050.h"
Used: C:\Users\61426\Documents\Arduino\libraries\MPU6050
exit status 1
Error compiling for board DOIT ESP32 DEVKIT V1.
This report would have more information with
"Show verbose output during compilation"
option enabled in File -> Preferences.

The code and setup used is from this website here :

• dronebotworkshop.com/mpu-6050-level/

I used one of the examples (the second one) . Any help would be greatly appreciated.