These are the drive motors from logo, the tragically defective and now defunct robot from which the nano-itx motherboard was also pilfered. It will take some minor frame modifications to fit these in so it may not happen for a while; also, I'm not going to bother with that until I've figured out how to build an avr servo controller capable of handling 512cpr encoders; this is sort of difficult because of the 200khz transition rate, i.e. 100 instructions per interrupt on a 20mhz avr. That's something I've been meaning to do for a while, though. The original devilcat had hardware quadrature counters, which were really quite nice, but expensive, and theoretically it should be possible to do this with a $2 avr and some clever hacking.Also pictured are the delightfully overengineered mounts, which will not be used.
In other dc2 news, today I had new idler arms made, designed such that there is no negative deflection, i.e. the omniwheels never go below the drive wheel level. They work much, much better.