I want to use huskylens and esp32 in conjunction. !

#undef max					  //ADDED
#define max(a,b) ((a)>(b)?(a):(b))   //ADDED!!!   Added because Max/Min functions not working in header
#undef min					  //ADDED
#define min(a,b) ((a)<(b)?(a):(b))	  //ADDED!!!   Added because Max/Min functions not working in header

#include <HardwareSerial.h>
#include <HuskyLensProtocolCore.h>
#include <HUSKYLENS.h>
#include <HUSKYLENSMindPlus.h>
#include <DFRobotHuskyLens.h>
#include <M5Stack.h>

HUSKYLENS huskylens;
#define RXD2 17  //Oops Switched my wires!!
#define TXD2 16  //Oops Switched my wires!!

int ID1 = 1;

void setup() {
    M5.begin();
    Serial.begin(115200);                         
    Serial2.begin(9600, SERIAL_8N1, RXD2, TXD2);  //Communication with Huskylens

    while (!huskylens.begin(Serial2))
    {
        Serial.println(F("Failbus!"));
        delay(100);
    }
     huskylens.writeAlgorithm(ALGORITHM_LINE_TRACKING);
}

void loop() {
    M5.update();
    
    int32_t error; 
    if (!huskylens.request(ID1))    {Serial.println(F("Fail to request data from HUSKYLENS, recheck the connection!"));}
    else if(!huskylens.isLearned()) {Serial.println(F("Nothing learned, press learn button on HUSKYLENS to learn one!"));}
    else if(!huskylens.available()) {Serial.println(F("No block or arrow appears on the screen!"));}
    else
    {
        HUSKYLENSResult result = huskylens.read();
        printResult(result);

        // Calculate the error: where it needs to move for center
        error = (int32_t)result.xTarget - (int32_t)160;
    }
    delay(100);
}

void printResult(HUSKYLENSResult result){
    if (result.command == COMMAND_RETURN_BLOCK){
        Serial.println(String()+F("Block:xCenter=")+result.xCenter+F(",yCenter=")+result.yCenter+F(",width=")+result.width+F(",height=")+result.height+F(",ID=")+result.ID);
    }
    else if (result.command == COMMAND_RETURN_ARROW){
        Serial.println(String()+F("Arrow:xOrigin=")+result.xOrigin+F(",yOrigin=")+result.yOrigin+F(",xTarget=")+result.xTarget+F(",yTarget=")+result.yTarget+F(",ID=")+result.ID);
    }
    else{
        Serial.println("Object unknown!");
    }
}