diff --git a/.github/workflows/build_examples_esp_idf_project.yml b/.github/workflows/build_examples_esp_idf_project.yml
new file mode 100644
index 00000000..e29a61c5
--- /dev/null
+++ b/.github/workflows/build_examples_esp_idf_project.yml
@@ -0,0 +1,23 @@
+name: Build examples for an ESP-IDF project
+
+on:
+  push:
+    branches: [ master ]
+  pull_request:
+    branches: [ master ]
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: Checkout
+      uses: actions/checkout@v4
+    - name: esp-idf build
+      uses: espressif/esp-idf-ci-action@v1
+      with:
+        esp_idf_version: v5.3.2
+        target: esp32
+        path: extras/idf_project_example
+  
\ No newline at end of file
diff --git a/extras/idf_project_example/.gitignore b/extras/idf_project_example/.gitignore
new file mode 100644
index 00000000..bbab53b9
--- /dev/null
+++ b/extras/idf_project_example/.gitignore
@@ -0,0 +1,5 @@
+/build
+/.vscode
+/managed_components
+/sdkconfig
+/dependencies.lock
diff --git a/extras/idf_project_example/CMakeLists.txt b/extras/idf_project_example/CMakeLists.txt
new file mode 100644
index 00000000..e0254bfe
--- /dev/null
+++ b/extras/idf_project_example/CMakeLists.txt
@@ -0,0 +1,10 @@
+# For more information about build system see
+# https://docs.espressif.com/projects/esp-idf/en/latest/api-guides/build-system.html
+# The following five lines of boilerplate have to be in your project's
+# CMakeLists in this exact order for cmake to work correctly
+
+cmake_minimum_required(VERSION 3.16)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+
+project(idf_project_example)
diff --git a/extras/idf_project_example/README.md b/extras/idf_project_example/README.md
new file mode 100644
index 00000000..7152e9bd
--- /dev/null
+++ b/extras/idf_project_example/README.md
@@ -0,0 +1,8 @@
+This folder contains a bare bones functional ESP-IDF project.
+
+You can create one using the **ESP-IDF: New Project** command in
+Visual Studio code, or use this one as a basis. If you do use this one
+as a basis for your own project, review the `.gitignore` file as it
+excludes files you would not want to exclude in a normal project.
+Normally only the `managed_components` and `build` folders would be
+excluded from version control.
diff --git a/extras/idf_project_example/main/CMakeLists.txt b/extras/idf_project_example/main/CMakeLists.txt
new file mode 100644
index 00000000..0125dc2e
--- /dev/null
+++ b/extras/idf_project_example/main/CMakeLists.txt
@@ -0,0 +1,6 @@
+FILE(GLOB_RECURSE SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/*.c ${CMAKE_CURRENT_SOURCE_DIR}/*.cpp)
+
+idf_component_register(
+    SRCS ${SOURCES}
+    INCLUDE_DIRS "."
+)
diff --git a/extras/idf_project_example/main/idf_component.yml b/extras/idf_project_example/main/idf_component.yml
new file mode 100644
index 00000000..d0a9c3c5
--- /dev/null
+++ b/extras/idf_project_example/main/idf_component.yml
@@ -0,0 +1,5 @@
+dependencies:
+  FastAccelStepper:
+    path: ../../..
+    # Alternatively you can point this directly at the GitHub repository:
+    # git: https://github.com/gin66/FastAccelStepper.git
diff --git a/extras/idf_project_example/main/main.cpp b/extras/idf_project_example/main/main.cpp
new file mode 100644
index 00000000..13de17a7
--- /dev/null
+++ b/extras/idf_project_example/main/main.cpp
@@ -0,0 +1,78 @@
+#include "FastAccelStepper.h"
+
+#include <cinttypes>
+
+// As in StepperDemo for Motor 1 on ESP32
+#define dirPinStepper 18
+#define enablePinStepper 26
+#define stepPinStepper 17
+
+FastAccelStepperEngine engine = FastAccelStepperEngine();
+FastAccelStepper *stepper = NULL;
+
+void setup() {
+  printf("START\n");
+
+  engine.init(0);
+
+  printf("Engine initialized\n");
+
+  for (uint8_t i = 0; i < 10; i++) {
+    printf("LOOP %d\n", i);
+    vTaskDelay(pdMS_TO_TICKS(500));
+    //    esp_task_wdt_reset();
+  }
+  stepper = engine.stepperConnectToPin(stepPinStepper);
+
+  printf("Stepper connected\n");
+  for (uint8_t i = 0; i < 10; i++) {
+    printf("LOOP %d\n", i);
+    vTaskDelay(pdMS_TO_TICKS(500));
+    //    esp_task_wdt_reset();
+  }
+
+  if (stepper) {
+    stepper->setDirectionPin(dirPinStepper);
+    stepper->setEnablePin(enablePinStepper);
+    stepper->setAutoEnable(true);
+
+    // If auto enable/disable need delays, just add (one or both):
+    // stepper->setDelayToEnable(50);
+    // stepper->setDelayToDisable(1000);
+
+    stepper->setSpeedInUs(1000);  // the parameter is us/step !!!
+    stepper->setAcceleration(100);
+
+#ifdef SUPPORT_ESP32_PULSE_COUNTER
+    stepper->attachToPulseCounter(7);
+#endif
+
+    printf("Stepper initialized\n");
+  } else {
+    printf("No stepper\n");
+  }
+}
+
+extern "C" void app_main() {
+  setup();
+  int32_t target = 0;
+  while (true) {
+    while (stepper->isRunning()) {
+      //      esp_task_wdt_reset();
+      printf("pos=%" PRId32, stepper->getCurrentPosition());
+#ifdef SUPPORT_ESP32_PULSE_COUNTER
+      int16_t pcnt = stepper->readPulseCounter();
+      printf("  pcnt=%d", pcnt);
+#endif
+      printf("\n");
+      vTaskDelay(pdMS_TO_TICKS(500));
+    }
+    printf("done\n");
+    vTaskDelay(pdMS_TO_TICKS(500));
+    printf("move\n");
+    target = 1000 - target;
+    stepper->moveTo(target);
+  }
+  // WARNING: if program reaches end of function app_main() the MCU will
+  // restart.
+}
diff --git a/extras/idf_project_example/sdkconfig.defaults b/extras/idf_project_example/sdkconfig.defaults
new file mode 100644
index 00000000..f1e9f313
--- /dev/null
+++ b/extras/idf_project_example/sdkconfig.defaults
@@ -0,0 +1,2 @@
+# Required by the android-esp32 component.
+CONFIG_FREERTOS_HZ=1000
diff --git a/idf_component.yml b/idf_component.yml
new file mode 100644
index 00000000..0b4136f8
--- /dev/null
+++ b/idf_component.yml
@@ -0,0 +1,3 @@
+dependencies:
+  espressif/arduino-esp32:
+    version: "*"