diff --git a/.github/workflows/pull-request.yml b/.github/workflows/pull-request.yml
index f8bd697..1a65c03 100644
--- a/.github/workflows/pull-request.yml
+++ b/.github/workflows/pull-request.yml
@@ -25,6 +25,7 @@ jobs:
           |
           # Install arduino AVR
           arduino-cli core install arduino:avr
+          arduino-cli core install arduino:esp32
           # Install dependencies
           libs=$(cat library.properties | grep depends | sed 's/depends=//g')
           IFS=',' read -ra lib <<< "$libs"
@@ -37,3 +38,4 @@ jobs:
           |
           # Perform test compile
           arduino-cli compile tests --fqbn arduino:avr:uno --log --library . --clean
+          arduino-cli compile tests --fqbn arduino:esp32:nano_nora --log --library . --clean
diff --git a/library.properties b/library.properties
index f2b884a..423c238 100644
--- a/library.properties
+++ b/library.properties
@@ -1,5 +1,5 @@
 name=Leaphy Extensions
-version=1.0.1
+version=1.0.2
 author=Leaphy Robotics
 maintainer=Leaphy Robotics <koen@leaphy.nl>
 sentence=Provides functionality to program all Leaphy robots
@@ -9,5 +9,5 @@ url=https://github.com/leaphy-robotics/leaphy-extensions
 architectures=avr
 # Only include actually used library code in the resulting executable
 dot_a_linkage=true
-depends=Adafruit SSD1306,Adafruit GFX Library,Adafruit LSM303 Accel,Adafruit LIS2MDL,Adafruit BusIO,Adafruit_VL53L0X,Adafruit NeoPixel
+depends=Adafruit SSD1306,Adafruit GFX Library,Adafruit LSM303 Accel,Adafruit LIS2MDL,Adafruit BusIO,Adafruit_VL53L0X,Adafruit NeoPixel,EspSoftwareSerial
 
diff --git a/src/LSM303AGR.cpp b/src/LSM303AGR.cpp
deleted file mode 100644
index f495b17..0000000
--- a/src/LSM303AGR.cpp
+++ /dev/null
@@ -1,48 +0,0 @@
-#include "LSM303AGR.h"
-
-#define _ADDRESS_MAG 0x1E   //!< Default address
-#include <Adafruit_BusIO_Register.h>
-#include <Adafruit_I2CDevice.h>
-#include <Adafruit_SPIDevice.h>
-#include <Adafruit_Sensor.h>
-#include <Wire.h>
-
-CompassSensor::CompassSensor() {
-  CompassSensor::mag = Adafruit_LIS2MDL();
-  // initiate the event
-  CompassSensor::mag.getEvent(data);
-}
-
-bool CompassSensor::begin(uint8_t i2c_addr = _ADDRESS_MAG, TwoWire *wire = &Wire) {
-    CompassSensor::mag.begin(i2c_addr = _ADDRESS_MAG, wire = &Wire);
-
-    return true;
-}
-
-bool CompassSensor::begin_SPI(uint8_t cs_pin, SPIClass *theSPI = &SPI) {
-    CompassSensor::mag.begin_SPI(cs_pin, theSPI);
-
-    return true;
-}
-
-bool CompassSensor::begin_SPI(int8_t cs_pin, int8_t sck_pin, int8_t miso_pin, int8_t mosi_pin) {
-    CompassSensor::mag.begin_SPI(cs_pin, sck_pin, miso_pin, mosi_pin);
-
-    return true;
-}
-
-lis2mdl_rate_t CompassSensor::getDataRate() {
-    return CompassSensor::mag.getDataRate();
-}
-
-void CompassSensor::setDataRate(lis2mdl_rate_t rate) {
-    CompassSensor::mag.setDataRate(rate);
-}
-
-void CompassSensor::reset() {
-    CompassSensor::mag.reset();
-}
-
-void CompassSensor::update() {
-  CompassSensor::mag.getEvent(data);
-}
diff --git a/src/LSM303AGR.h b/src/LSM303AGR.h
deleted file mode 100644
index e158e76..0000000
--- a/src/LSM303AGR.h
+++ /dev/null
@@ -1,26 +0,0 @@
-#ifndef LSM303AGR_H
-#define LSM303AGR_H
-#include <Wire.h>
-#include <Adafruit_Sensor.h>
-#include <Adafruit_LIS2MDL.h>
-
-class CompassSensor {
-    private:
-        Adafruit_LIS2MDL mag;
-        
-        
-    public:
-        sensors_event_t * data;
-        CompassSensor();
-        bool begin(uint8_t i2c_addr = _ADDRESS_MAG, TwoWire *wire = &Wire);
-        bool begin_SPI(uint8_t cs_pin, SPIClass *theSPI = &SPI);
-        bool begin_SPI(int8_t cs_pin, int8_t sck_pin, int8_t miso_pin,
-                    int8_t mosi_pin);
-
-        lis2mdl_rate_t getDataRate();
-        void setDataRate(lis2mdl_rate_t rate);
-        void reset();
-        void update();
-};
-
-#endif
diff --git a/src/Leaphyoriginal1.cpp b/src/Leaphyoriginal1.cpp
index d2f1756..c73622d 100644
--- a/src/Leaphyoriginal1.cpp
+++ b/src/Leaphyoriginal1.cpp
@@ -2,7 +2,6 @@
 // suitable for Fundumoto Shield
 // Copyright Science4Kids& Stichting Leaphy 2018
 // version 1.0.0    25 JULI 2018
-
 #include "Leaphyoriginal1.h"
 
 
@@ -100,3 +99,4 @@ void setLed(int fpRed, int fpGreen, int fpBlue)
     analogWrite(LED1_GREEN, fpGreen);
     analogWrite(LED1_BLUE, fpBlue);
 }
+
diff --git a/src/Leaphyoriginal1.h b/src/Leaphyoriginal1.h
index 682563a..95c1528 100644
--- a/src/Leaphyoriginal1.h
+++ b/src/Leaphyoriginal1.h
@@ -10,7 +10,6 @@
 #ifndef F_CPU
 #define  F_CPU 16000000UL
 #endif
-#include <util/delay.h>
 #include <stdint.h>
 #include <stdlib.h>
 
diff --git a/src/RedMP3.cpp b/src/RedMP3.cpp
index 1d24d0e..f413b75 100644
--- a/src/RedMP3.cpp
+++ b/src/RedMP3.cpp
@@ -24,10 +24,18 @@
 #include <SoftwareSerial.h>
 #include "RedMP3.h"
 
+#ifdef AVR
 MP3::MP3(uint8_t rxd, uint8_t txd):myMP3(txd, rxd)
 {
   myMP3.begin(9600);//baud rate is 9600bps
 }
+#else
+MP3::MP3(uint8_t rxd, uint8_t txd)
+{
+  myMP3.begin(9600, SWSERIAL_8N1, txd, rxd, false);//baud rate is 9600bps
+}
+#endif
+
 void MP3::begin()
 {
   sendCommand(CMD_SEL_DEV, DEV_TF);//select the TF card  
diff --git a/src/RedMP3.h b/src/RedMP3.h
index bbcbe3a..a7f7787 100644
--- a/src/RedMP3.h
+++ b/src/RedMP3.h
@@ -74,7 +74,11 @@ class MP3
 	void playCombine(int16_t folderAndIndex[], int8_t number);
 	
 private:
+	#ifdef AVR
 	SoftwareSerial myMP3;
+	#else
+	EspSoftwareSerial::UART myMP3;
+	#endif
 	void sendCommand(int8_t command, int16_t dat = 0);
 	void mp3Basic(int8_t command);
 	void mp3_5bytes(int8_t command, uint8_t dat);