This was written to run on a Devastator tank platform with a raspberry pi zero w. Currently it is driven using a single joystick, I'm not good at maths so there are a selection of different driving modes each with their own flaws. It uses piSugar LiPo to power the pi and a 6 cell AA battery pack powers the motors with an L928N H bridge to distribute power.
You can run it locally or just use docker to run it for you
curl -sSL https://get.docker.com | sh
sudo python3 -m pip install docker-compose
sudo docker compose up
wget -O - https://raw.githubusercontent.com/sdesalas/node-pi-zero/master/install-node-v11.5.0.sh | bash
sudo apt-get install python-is-python2
wget https://github.com/joan2937/pigpio/archive/master.zip
unzip master.zip
cd pigpio-master
make
make install
cd gpio_controller
sudo npm install
sudo node piTank.js
Open index.html on any device you want. If you're running through docker it should be accesible through the ip address of the tank. If it can't connect to the tank on localhost you can enter your own IP. By default, it runs on port 8081.