Thanks Brian, it just needed some tuning at first

Then I wanted to go HV with it, and that added a bunch of stuff.
Now I have decided to make it a legit rules free racer.
I'm going to start working on doing a electromagnet disc brake system to see if I can eliminate the brake servo. I found a few servo signal to PWM converters that should allow me to do a pretty strong coil (~20watts) at a very low weight.
I also bought a benchtop 4-axis mill I should see in a few weeks, then the one off stuff can really go nuts :-)