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# Talk proposal — "Retrofitting a 615 lb zero-turn with a $1.6k brain"
**Length:** 25 min + demo · **Audience:** maker/robotics meetup, hackerspace night
Abstract: Everyone's robot mower is a toy. I put ArduPilot, dual-RTK GPS, LiDAR and an NPU
on a commercial Gravely zero-turn — and the interesting problems were nowhere near the AI:
actuating hydraulic lap bars (and failing to neutral), why a zero-turn's signature move
destroys lawns (turf shear physics → 3-point tractor turns), and a kill chain you can trust
with a 52-inch blade deck. Open-source CAD/firmware; live sim demo; honest design log of
everything that went wrong.
Outline: 3' the machine · 6' lap-bar problem + ESP32 loop · 5' RTK + heading · 5' the turn
physics · 4' kill chain · 2' what broke · demo.