I have finalized the electronics, printed a chassis and stitched it all together. It runs off a pack of 4 LiFePo4's in parallel using 2 boost converters, one for each motor. The boost converters are set to give out 12.2 volts as the ESC's can't handle more than 12.6 volts. The weaksauce china motors are rated at 12 volts.

The glitch is a software glitch. When reversing it slows down  the opposite belt. I have a routine in comment for full reverse, I guess I'll have to use that somewhere in the code to slow down the correct belt when both are in reverse mode. Also I want to limit the right/left impact on speeds cause it's crazy turning. I'll add some more pictures later.