Oh don't remind me. Still have quite a lot to do, mainly sorting out these pesky wheels. The nyloc wasn't put far on enough, so the wheel slips forwards and backwards out of its key. Sadly the nut has rusted onto the shaft now so any more force trying to free it will mangle the gearbox. Plus just lots of testing to get done - I've never had a robot that drives in one direction without veering violently to one side, it's all a learning curve!