Hi,
Great project! Looks like you're making good progress.
I just wanted to comment on your plan of doing steering directly from the Pi. I know some experienced engineers who built their hobby systems using Pi for logic and Arduino for motor control, on purpose. Their justification was that the Pi can get bogged down doing other OS-level tasks (accepting user input, etc.) that can interfere with a control loop and affect performance. To finally fix the issue, they ended up moving to a FPGA-based system, which is able to run the control law in real-time while also running program logic.
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