Tri-omni wheel Pi Zero robot

At the time of writing, Raspian is running Linux kernel 4.1.19 that has a bug in the bluetooth driver for Sony DualShock 4 controllers with newer firmware. Kernels as of 4.5rc1 have the fix. Until Raspian kernel packages catch up the solutions I can see are to backport this fix by patching and compiling a custom 4.1.x kernel or just running a DS4 of an older firmware.

Info on the driver fix is here:

https://git.kernel.org/cgit/linux/kernel/git/jikos/hid.git/commit/?h=for-4.5/sony&id=b71b5578a84d297954e4812ba0ca2d466e61cf42

Kernel Building on Raspberry Pi:

https://www.raspberrypi.org/documentation/linux/kernel/building.md

Was able to scavenge a Dynamite WP 60A ESC (DYNS2210) that came with the Vaterra Ascender RTR. Virtually the same specs and size, likely a just re-branded Hobbywing. Back together and running!

So one of the Hobbywing ESCs is defective and will need replacing. It only runs for a few seconds then dies. The fact that only the defective one has a distinct high pitch whine when powerd was a clue.The other issue is that the reverse mode is less power and thus spins slower per pulse. Maybe this can be compensated for in software, but I'm not sure the rate is proportional. Would be a bummer to have scrap these and go with more expensive ones.