Raspberry Pi + Arduino robot

Based on a cheap 2-wheel Arduino robot kit from China.
Added a Raspberry Pi Zero to enable video recording and object recognition, wheel speed sensors for measuring travel distance, an accelerator/gyroscope for straight line direction stabilization and collision detection, and IR obstacle sensors to compensate for the limitations of the main ultrasonic distance sensor.
The Raspberry Pi runs a Python script that controls the robot's actions, sending commands to the Arduino MCU via a serial connection. The Arduino controls basic movement and reads data from the sensors, returning the values back to the Raspberry Pi.
The onboard camera video is a bit choppy due to codec issues when using the Pi camera in Python. The code as a whole still needs a bit of work.
I've uploaded the source code here: drive.google.com/file/d/1Y1K2...

[@neiltubioii]

Can can you the source code

[@dusanlamos]

I've added a link to the source code to the video description.