To control the robot I use my Nano VM with some libraries written in C. The main control program is written in my language N.
The motor driver is connected to the serial port of the Raspberry Pi.
With OpenCV the pictures of the two webcams are scanned for identical parts in both pictures. An object in front is placed in a different location in the pictures. The control program uses this difference to calculate the objects distance. The goal is to avoid driving into obstacles.