After years of development ;-) I've finally have my prototype robotic lawnmower
platform to a usable state. The most valuable lesson I learned is that
everything in the drive path must be metal, clamped, and use lock washers.

Next on the agenda is motor control for the drive motors. Bob Blick's
discrete h-bridge is a natural for the project. But of course you end up
with 8 power transistors, plus another one for the cutting motor.

I wanted to get some ideas of the best way to heatsink a bunch of power
transistors.

TIA

BAJ

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