I wanted to share this little snapshot represents my initial ideas on where I wanted to take the project, design wise. For now, I have abandoned this design and will use it when I scale up the robot - for now it's an unwarranted level of complexity for what is ultimately a small robot. In future? Who knows!

In a future update I will share the final design along with the STLs and code examples, currently I am debating a polar vs cartesian co-ordinates system, polar would mean starting it from a nominal, known point - really not that hard to design, cartesian, being 3d would need an IMU to measure its position - again, not really that big of an integration issue, but a layer of unwarranted complexity, affecting the overall size and shape of Tortuga 1.0.