Now you have the parts, and you've starting building the robot. The next thing to consider is the code for the robot. We started planning code in layers in Chapter 2, Exploring Robot Building Blocks - Code and Electronics, and then explored this further in Chapter 7, Drive and Turn - Moving Motors with Python under the Robot object heading.
The general idea is to create layers of code in the system. For a basic robot, these layers could be just functions or classes, and for a more complicated one, these may be different software components talking on a shared software bus (like a message queue or as connected services). The library we have already built will work for many small-wheeled robots, with some refining as you gain experience with it, and behaviors can be adapted for new sensors and outputs if you have kept the behavior separate from...