Well it has been a long time since last time I touched my robot, so a few things happened:
1. I’ve switched the power supply to “NAZTECH PB15000”. It’s huge, but it can supply 1 usb for Raspberry and also give 12V at 5amp output for motors
2. I’ve created a nice webcam pan and tilt web control, which require more optimizations in terms of number of the requests it sends to the robot (some should be skipped basically).
3. I’ve fixed web-cam/wifi dongle lag by “avoiding” fuses for USB ports and now wifi and web-cam are working MUCH MUCH better. You can do the same by following instructions here.