I wanted to see approximately how long Sophie would last on the selected dual 12volt 30ah batteries. I asked Chat GPT, because I'm a lazy engineer... I added main loads at full tilt and then minus another 20% for additional loads and inefficiencies in the DC-DC convertors/system. 

I started from this...

"how long @ 15W 12v will it take for a 24volt 30ah battery to deplete if the chemistry is lithium iron phosphate?"

With the added load of 24 volts at 3 amps, and accounting for a 20% reduction due to additional loads or inefficiencies, the 24V 30Ah lithium iron phosphate battery would last approximately 2.95 hours. This calculation provides a more comprehensive view of the battery life considering multiple loads and practical usage conditions

That sounds like at full tilt the robot would last about 3 hours. And if just the main computer was running and various USB 3.0 hub, speaker and directional mic, It would last about 28.6 hours on a full charge. This indicates that the main drive units and arm will take most of the power. With this in mind this is where I should focus on any battery saving techniques. One I had envisioned is that I have a solid state relay that will turn on/off the power to the stepper motor drivers as they do not have built in power saving electronics. These would be powered on before any move command is completed and then powered down once the robot has reached its goal. 

# Power consumption of the additional load at 24V and 3A
power_additional_load = 24 * 3  # in watts (W)

# Updated total power consumption with all loads
updated_total_power_consumption = total_power_consumption + power_additional_load  # in watts (W)

# Calculate the updated total current drawn from the battery
updated_total_current_draw = updated_total_power_consumption / battery_voltage  # in amperes (A)

# Calculate new battery life with the additional load
updated_battery_life_hours = battery_capacity / updated_total_current_draw

# Adjusted battery life after accounting for the 20% reduction
updated_adjusted_battery_life_hours = updated_battery_life_hours * (1 - additional_reduction_percentage)
updated_adjusted_battery_life_hours