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you do not need the openCR but if you like to drive fast, or realy precise then you need a peace of hardware with an rtos (any bigger mcu) or you program it barematel.

you may look at https://micro-ros.github.io/ to have somethink like ros inside of the mcu.

then it depend witch kind of motor controller you use. if it is a good one you need les realtime see here https://roscon.ros.org/2015/presentations/magazino-roscon.pdf