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# Hackaday.io project page (paste-ready)
**Name:** 615 lb Autonomous Zero-Turn (ArduPilot retrofit)
**Summary:** Bolting autonomy onto a real commercial gas mower — not a toy platform. ArduPilot Rover + dual-RTK + LiDAR/camera AI, with an ESP32 physically driving the hydro lap bars through feedback actuators that fail to neutral.
**Details:** mirror docs/DESIGN-LOG.md phase tables (their audience reads build logs, not pitches),
lead each log entry with the wrong turn (stray minkowski sphere, deck-eats-tyres wheelbase, ASIN rot).
First log = Phase 0; one log per phase after. Link repo + zohebalvi.com/mower.
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