Finally got some time to work on r2 this weekend, and have movement! He can now move arond, and spin and stuff. Unfortunately, still need to add some odometry, not quite worked out how thats going to work yet!
finally got a gearbox mount that i’m happy with, just need to work out how to add odometry to it, since Plan A had two magnets close and opposite each other. One wheel turning would turn the other!