Hi all, i created two new files to go with the OdriveArduino library. TWAI_CAN_Class.h and ODriveESP32TWAI.hpp. They enable the use of the native TWAI drivers of the Arduino core for the ESP32. It enables the use of a simple transceiver like an SN65HVD230 instead of requiring an SPI interface. Also the main sketch is updated to add the corresponding board-specific include and setting sections. I have never used Github as a contributor. Should i try and create a fork or share my work here?
Hi! If you want to make a pull request to the ODriveArduino repository, that would be amazing! Or, you can just upload the files here, and we can review and integrate 
Thank you so much!
I created a pull request. Since working with Github is new to me, please let me know if the pull request is visible to you.