Wheel assembly and half a PCB

More progress. The wheel assembly is pretty much complete. Now, as much as I’d like to aggrandize my involvement in machining it up, I really have to put a big thanks out to Grant who did most (being a bit of an understatement) of the work, while I watched on…and nodded…and occasionally scuffed my shoes. It’s looking pretty good:

In related news, my PCB arrived recently. I’ve soldered the power and microcontroller bits, which all seem to work. Just need to sort out some issues with the comm’s before I can fully test the IMU. If all’s good, I’ll solder the rest up:

Cheers!