Newbie Scratch Build - D575A Dozer

[9W Monighan]

Very Nice work Rob.
That coding definitely sounds complicated to me.
You may have to build planetary reductions in your final drives to slow her down thus having full power to the motors. That would take a lot of the stress off of your bevel gearing that you said you're already having trouble with.
I'm not up to date on all of the RC electronics but; Don't the brushless motor speed controllers act like an AC Inverter?
I have some of my machinery and mills in my shop equipped with 208VAC 3phase inverters to control the motor RPM. It seems I get full torque using them at low speeds.

I get a chance, I have a picture I'll post taken 29yrs ago of the first D575A built with my son and I standing next to it.