do we control everything in on single ino file?

Hi, i am doing a project on building a robot, in which we use arduino to manage the sensors, motors, compass and connect to an R-Pi. should i write all the codes in one single file and upload to arduino? or i can do it in packages like java, c?? thanks!

You can use multiple files and/or create libraries of code. The initial sketch is a .ino file, treat it as a cpp file ( it is copied and renamed *.cpp before compiling ). Add as many header and source files as you need and include the appropriate ones into your sketch.