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If I wanted reversable brushless motors in a boat or robotics project, where I don't have a flight controller to handle DSHOT communications, could I use BL_Heli ESCs?

Do they still understand PWM signals? Do they need configuration?

This is largely because I don't want the brake and reduced speed reverse that car ESCs have.

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I don't know about BLHeli, but you should be able to use BLHeli_S in "3D mode" with PWM. They do need configuration, you will have to set motor direction to bi-directional.

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