Managed to sort out the electrics a few nights ago and now it is running around as fast as ever. Trailed a new pistol grip controller and mixer as well... seems fine but the controller was very twitchy, managed to inadvertently drive the robot straight onto my big toe at full power. :/ I'll keep the controller and mixer for Kaizen...

With regards to the weapon, I keep on flipping between a lifting arm and a axe. In the end, I am going to take a leaf from Shu! and have a lifting arm mounted in the middle of the wedge, so that it can do a 180 arc to become either a rear hinged lifting arm or a front hinged flipping arm which I think will sort out the self righting woes anyway. The middle mounted position will also lend itself to a rotary weapon of some sort as well.