the hardware is in really bad shape, the tofs randomly are stuck at max
and randomly stuck at min. The drive esc can't feed more than ~20%
power, and then not consistently either. Without any signal in the noise
it is impossible to move forward.
A possible full system redesign is to use a global shutter camera from
outside the box for all position data, perhaps supplemented with an
onboard IMU. tofs (at this price point) are not useful. It may be worth
trying new tofs that haven't had the chance for particulate to
accumulate in the emmiter/collector, but I'm not bullish on it.
