Very dirty example of Vesc Uart <-> Wifi bridge.
I use TTGO T-Display as ESP32 board.
Pinout:
T-Display 26 - Vesc Uart RX T-Display 25 - Vesc Uart TX
I got power from Vesc, but seems it's bad idea. With PowerBank to TTGO connection is better. Do not forget to attach Ground between Vesc and T-Display boards.
Use PlatformIO to compile and flash T-Display board.
Finally I found that protocol have to be refactored and UDP used. Because 1 lost packet cause long retransmission delay. My UDP pull request is applied to vesc_tool now.