Doomforge is now drivable! I had an issue where the bot would drive just fine, but then suddenly burst into full throttle on all motors for no reason. The Arduino was powered by a 9v battery, but switching to a UBEC that regulated the 12v battery to 5v (which I planned on doing anyway and only used the 9v while I waited) works perfectly! So the bot can now strafe in any direction using the left joystick, and can rotate left and right using the right joystick!
The picture also shows the internal layout. Some things still need to be anchored down like the butane canister and the ESC’s. The corner walls still need to be built, and I need a way to attach the servo horn to the red valve on the torch. I’m thinking a combination of a 3D-printed part and epoxy. The tube leading into the torch doesn’t have an airtight seal either. The high voltage generator I had planned to use for ignition is also too heavy, so I’m looking for an alternative method.