Showroom My updated 2DOF PGSAW Motor Rig

Hey all! I posted a few months ago after trying to get some wheelchair motors working and they were nowhere near strong enough for what I was trying to design. I spent a lot more time on this website and I'm finally happy with what I've made! It's a 2DOF that uses the PGSAW motors 50:1 and they're driven by the IBT2/Arduino configuration. I'm using a 50A 12V PSU and using the hall effect sensors for position. I've attached a couple pictures, the first one is of my trailer park design that had a very poor outcome during testing. The next two pictures are of the re-design. I've still got to do a few things (such as properly mounting a seat to it instead of my RZR seat with a strap). I attached the base to a piece of wood to accommodate taller riders as the base would start lifting when they got outside the sides of the frame during heavy turns. I also need to paint the metal which connects the motors to the frame rail but I can't do that until the weather outside improves and I can do a proper spray on it. In all, I'm having a blast with it, and I can't thank this community enough for the support and awesome write ups! I have some questions to fine tune this but I'll use another thread with my questions, thanks everyone!