Its been 10 hours since the last devlog, and a lot has changed. Firstly, I changed out my drivetrain from a 4wd with motors that had only 0.2kgcm of torque at 22000 rpm (way too much) to a 2wd with 2 motors that have 12.4kgcm of torque that spin at 100rpm, which is perfect for this robot. This change also prompted a redesign of the whole chassis, which i made and printed out. The next step to this is to wire up my arm, pi, arduino, and battery.