I'm open to try any setup. The problem isn't the travel limits though, as the weapon works like Sewer Snake's, and it goes underneath the robot as well as lifts up like typical forks (a lá Panic Attack). The problem is that the fork tips flat on the floor isn't an end of travel point (so it can't be limit switched or we'll effectively lose half of our weapon), it's right in the middle of the weapon's stroke.

Hard to explain...

I need to be able to stop the weapon when it's flat on the floor more easily, without it going past the point and lifting our wheels up or staying up a bit so it can't get underneath stuff.

I had hoped to make it work like a servo, so that TDC is the forks with 0 clearence, and it automatically reverts to that position after I use it, but having it work like a massive servo in ten days is looking doubtful.

You can see the problem clearly in this video: