I am getting exactly the same error as in this question, that is: C:\Users\nicol\AppData\Local\Temp\arduino_build_322778\libraries\EspSoftwareSerial\: In function `std::function::operator()() const':Ĭ:\Users\nicol\Documents\Arduino\libraries\EspSoftwareSerial\src/SoftwareSerial.h:188:(.iram1.54+0x22): dangerous relocation: l32r: literal placed after use. As explained in this question, the SoftwareSerial and BluetoothSerial libraries are not compatible. I can implement points 1 and 2 with the examples. On the other hand, the second xl320 library does implement the receiving task with RX but makes extensive use of the SoftwareSerial library. From what I have seen on internet, it seems that this first xl320 library doesn't work for reading data through the RX serial pin. The X元20_servo_example.ino works well, and is compatible with BLE communication when not using the SoftwareSerial library (commented lines 15, 18 and 35). ![]() With the first one I can complete point 1 and 3, using the BluetoothSerial esp library. The two main libraries I found are this one and this one. Various libraries implement point 1 and 2, although point n☂ seems to be the most difficult without external hardware. )Ĭommunicate with the esp32 with Bluetooth Read data from the motors (current position, current speed. Transmit data to the motors (control mode, speed goal. I am trying to control various Dynamixel X元20 motors ( ) with an esp32.
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