Yup,

Now when it sees something in front it stops then goes backwards. And when nothing is in front it goes forward for all its worth. Such a difference getting the steering servo and the wheel electronic speed control signals actually going to the servo and the ESC.

Now to calibrate HPWM for this fancy ESC. It seems very similar, but not exactly like the old not-so-fancy ESC. There are still funny rules around switching from forward to reverse and visa verso.

Ken