Hi everyone, I’m working on a compact mobile robot that uses Dynamixel XL430 servos controlled by an ESP32. For wireless communication and telemetry, I’m using MQTT to report sensor data and actuator states. I initially got the basic ESP32 setup and integration concept from this helpful article: https://www.theengineeringprojects.com/2022/03/getting-started-with-esp32.htm, which guided me through GPIO control and real-time task management.
I’m currently trying to optimize performance when combining sensor polling, Dynamixel serial communication, and Wi-Fi data transmission. I’ve also reviewed the official Dynamixel SDK docs (https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/). Has anyone here dealt with stability issues when combining Wi-Fi and Dynamixel via serial on the same ESP32? What’s the best way to manage task prioritization or use hardware UARTs effectively?
A few years back, I started these posts on using ESP-32s with DXLs, whereas I had some initial success then something changes with Arduino and/or Dynamixel2Arduino.
So at least you’ll be aware of potential issues of using DXL with ESP32 and ESP32-S3.
I have not re-checked these issues lately to see if they are resolved currently (June 2025) or not.