Quit with the custom-made slip ring business and bought a couple of <$10 three-wire ones from eBay.
PCBs finally came in from jlcpcb after a long COVID-19 delay:
Soldered all together:
Designed a mount for a spare piece of PVC pipe. Really didn't want to put too much more effort into the mechanical design as this was supposed to be a control systems project.
To keep the flywheel from flying off, made just the sort of screwy setup I can be counted on for:
Net-zero y-acceleration test (orange light blinks):
Swing-up gumption test (bonus: near loss of life or limb):
Very happy to see that the PLA placeholder wheel was sufficient, not needing to get a metal wheel machined was a load off my plate.
Implementing the PID controller.