More progress made today.

ESC prototype 2 is now built and working, and a flipper mechanism has been added. It uses a light torque servo that I had lying around to power it, I will be swapping it out for a higher torque one before it's finished. Even now it can lift its own weight if upside down, just about!

At 1511g, it's also slightly overweight. HDPE sheets are on order to rebuild the chassis, and when I do that, I'll make it shed some weight by a slight redesign including use of lighter wheels that should get it to come in under the limit.