ESP32 Sphero V2 controller
Connecting to and controlling a Sphero V2 (SPP Bluetooth Classic) from an ESP32 running Arduino requires a special combination of ESP32 board software (1.0.2) and the replacement of the BluetoothSerial code.
This repo is a working Arduino project example of connecting to and moving a
Sphero 2.0. You need to put the contents in a folder named esp32-spherov2
to open as an Arduino project. It was extracted from another project so you
can probably whittle it down further.
It doesn't yet read async packets back from the Sphero, but I'll add that if I get it working.
Otherwise, there won't be further development here, this is just to get the code out there after many hours of debugging.
This wouldn't have been possible without this comment, thank you @brownby: espressif/arduino-esp32#3916 (comment)