Unnecessarily complicated and difficult-to-follow ESC wiring for the win!
It was convoluted but so far it's been the most reliable setup in Cicatrix

Feels like I haven't done any proper robot stuff in aaaaaages; damn this being busy malarky. Having said that, I've got 720kg of slabs arriving tomorrow as work begins on setting up a workshop. Not long though till I'll be free to help out with Eric. Just thinking, it's probably one of the most replicated robots now, since Harry's made a fleaweight version of it (and I'm considering a beetleweight version too )