Looking good guys, nothing like spinning up a weapon with a brushless motor to scare the brown stuff out of you!

Out of interest, what brushless motor are you using? There are so many available that could work in a BW that I don't really know what to go for, so a benchmark from another robot would be handy
Also, you still having problems with the torque of the MFA motors struggling to turn Spinza? I've ordered some of the 1000rpm gearmotors from eBay to replace the MFA motors in Paws* so it'll be interesting to see how they compare and whether they're powerful enough to be a good alternative for your drives (plus they're cheaper than the MFAs, just take a bit longer to arrive)

*I'm not changing mine due to performance, they're just easier to mount with the chassis design I have in mind