I am trying to control Dynamixels with ESP32 with micropython. So far I have been looking Dave Hylands project about it: https://github.com/dhylands/bioloid3
However it has been done to work with the PyBoard, I want to know if it is possible to make it work with the ESP32 and what changes to make with all the code. Currently I don know how to make a half duplex connection with uart for ESP32 and that is basically where I am stuck. Hope someone can help me. Thanks in advance.