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In the previous chapter, we learned how to build the robot chassis, wire in motors, and power it. In this chapter, we will take the robot we built in the last chapter and build the Python code to make the motors move. We’ll see how to use motors to steer our robot, and how our code will get the robot moving! We will learn about MQTT, and how to use it to bridge between the physical robot and its behavior code, reducing the impact of hardware changes. The MQTT layer serves as a foundation for all our robot behaviors, and we will finish by programming a small set path following behavior to demonstrate using MQTT.We will cover the following topics in this chapter:
- Using Python to test robot motors
- Steering a robot
- Making an MQTT service for the main breakout
- Troubleshooting
- Following a path with MQTT
