I decided to put a grovepi on the robot in order to clean up the bread board mess.

Unfortunately the banana pi holds the grovepi reset pin low by default, but only took me a few hours to work that out.

Because I was having issues which i was incorrectly blaming the banana pi for, I have currently switched back to the raspberry pi while I'm working through the issues with the javea code to talk to the grovepi.

I was able to completely reove the dedicated pwm board from the build, and things look a lot cleaner now.

It only took me 4 weekends to get everything working again.