Some notes on the other parts of the build.

I bought a Gimson Robotics linear actuator. Impressed with it so far. Claimed at 29mm/s at 12V, they say it runs comfortably at 18V, which it has done under no load. I will have to run two circuits in the robot an 18V and a 6S ~22.4V circuit. I may have a third 5V circuit for led's etc.

To operate the the linear actuator, I saw in another thread the idea of using two microswitches (10A versions I located) and a servo motor to operate one or the other. I have some small servo's I got for ants, that I will use.