Things have been rather busy with work over the last few months so I haven't had much time to work on Zaza. To compound the issue, the robot's +5V booster DC-DC converter died on the 28th of last month and nearly vaporized some of the cable harness connectors that weren't rated for the load when running off of only one converter. Fortunately, a local surplus shop had a drop-in replacement for the booster module for really cheap. I was able to get some of the repair work done yesterday, but will need to spend some time on an upcoming weekend to wrap things up.