Summary

In this chapter, we've learned how to install the code for the Inventor HAT Mini and demonstrate that our motors work. We then started building an MQTT service for our behaviors to use, while noting how we could make a layer like that for other robots. We saw our robot move on a path and tuned it, while finding out some of the shortcomings of using motors without any sensors.You can now use this when starting any hardware project: test the motors/output devices first, then create a layer for a behavior to use them, such that if their hardware later changes, you only need to change the motor code.In the following chapters, we will start adding sensors and building behaviors with them. But first, we’ll see how to drive our robot remotely, using a phone to talk to MQTT!