control servomotors with Goplus2 and M5Stack core2

[LishengKKK]

Hi,
I am trying to control servomotors with Goplus2 and M5stack Core2. the same time,I will also need the IIC port on M5Stack to connect to a Joystick.

I found out that Goplus3 is not specitic for M5Stack Core2 and the IIC port will no function when core2 is connected to Goplus2.

But I also found a solution from here (https://www.google.com/url?q=https://community.m5stack.com/topic/2868/pahub-error-with-core2-with-goplus2/2&sa=D&source=docs&ust=1649764755845720&usg=AOvVaw3dyq5wcFYNqTeWGf2TsYMF) to turn off the IR_OUT when using the Goplus2 and external IIC.

but My question is :
1, how to turn off the IR_OUT and
2, how to control the servomotors with Goplus2.

thank you inavance!