Now, via vncserver, you can access a video feed and control your robot. Simply access vncserver, open two Terminal windows, and in one Terminal window run camera.py, while in the other Terminal window run r2d2Control.py, like this:

In this instance, there is a third window so that you can use aplay to play R2D2 WAV files that you have downloaded from the Internet. Now you can remotely pilot your R2D2 from a host computer or tablet. If you'd like to do it via a tablet or phone, you'll want to download an SSH app; there are several available from the different app stores. You can use your Wi-Fi settings to connect to the R2D2 access point. Then run the SSH app to access your R2D2 and start vncserver. Then you'll need a vncviewer app; again, there are several available, to access your R2D2 and run a similar configuration from your tablet or phone.

OpenCV is an amazing, powerful library of functions. You can do all sorts of incredible things with just a few lines...