In this project, the PC is used to “supervise” two RPi-based CM-550 robots, meaning that the PC can override the “autonomous” tasks that the robots were performing (which was a visual search and ranging task using a Pi Camera).
The communication schemes between PC and RPis, and also between RPi and CM-550 are described in the video below. REMOCON packets were used to contain the information circulating within this computing network. The solutions implemented were in Python via MS Visual Studio Code on the PC as well as on the RPis. The CM-550s were running on TASK codes. You can watch the details at this web link:
As it turned out, the communications scheme worked out well enough, but the RPis run-time performances were poor due to the high computing loads required by OpenCV and BT communications. The Python Interpreter on the RPis was just not “fast” enough!