Ron Evans

Hi @bgould could you please rebase against `dev` branch? The CI should pass if you do so. Thanks!

Looks like that last commit is failing the tests, @bgould

@bgould looks like you are going to need to resolve some merge conflicts, along with whatever else remains to be done on this PR. Thanks!

Actually what you want is this one: https://github.com/espressif/esp-at/tree/master/main/interface/hspi

That HSPI interface is code that runs on the ESP32 itself, not the code that runs on whatever MCU is connected. You are correct that various pins on the ESP*...

Seems like it is there in the `master` branch: https://github.com/espressif/esp-at/tree/master/main/interface/hspi also https://github.com/espressif/esp-at/blob/master/main/component.mk#L10

A very reasonable approach!

Just found this message on an issue for the esp-at repo: https://github.com/espressif/esp-at/issues/259#issuecomment-549637918 Not very encouraging to use the AT over SPI interface... makes me wonder if we should be looking...

There was a previous issue https://github.com/orbotix/sphero.js/issues/35 that might be related? What version of firmware are you running?

It is typical to use the Inertial Measurement Unit (IMU) for this info. Please check out the example code https://github.com/orbotix/sphero.js/blob/master/examples/stream-imu-angles.js Hope that helps!