@DJ Sures, I'll give it another try at doing a skill. Is this code mostly C++? I know the Roboclaw library was C#, which I have no experience with, but I have done some limited C++ coding.

Oh, it's all C#

I'm pretty sure that the last code snippet should work. If you can get a robot skill compiling with a simple button, I can talk you through how to test it.

All we really need to debug is add a button, and we'll see if we can make that button do different stuff, haha. one test at a time

@DJ Sures, it has been awhile since we last discussed the Roboclaw library. While I was waiting for Synthiam to add the Roboclaw library to ARC, I developed a solution with a modified version of the ESP32 firmware that works with the ESP32 DOIT DevKit. Once you informed me that Synthiam was not going to add support for Roboclaw in ARC, I decided to just use my solution (instead of building a plug-in for Roboclaw). So then I needed a second ESP32 unit and went with a ESPRESSIF ESP32 WROOM 32 board (got two for price of one ESP32 DOIT). The pin documentaion for that board shows RXDO is pin 34, GPI03, and for TXDO pin 35, GPIO1. So in the firmware I changed the translateDigitalPort() function so that the ARC port 13 (which I believe is the UART0 RX on an EZB board) to return a value of 3, and for ARC port 12 (EZB UART0 TX) to return a value of 1. But I am not getting anything from the serial port. Have you used ESP32 WROOM 32 boards, or know anyone who has? This seems to be a very straight forward port from ESP32 DOIT to ESP32 WROOM 32 (just change the pins for RX/TX), but it just does not work.