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I need help deciding on what ESC, servos for lifter, transmitter and batteries. Something that is suitable for what I'm doing for also has potential should I want to use them in a proper fighting bot!
Get a transmitter with mixing built in (like the OrangeRX system) as that will cover you in the event that your ESC doesn't do the mixing for you. As far as ESC's go, for a simple plug and go affair, I use a Sabretooth Dual 5A board. A bit expensive for what it is but it works. I know some folks here have had mixed results in the past but I've not really had any issues in using one.