Танк R/C с треугольными гусеницами

Hi all!
I present a model of an all-terrain vehicle with triangular tracks.
The description of the model is given in the attached files: CrawlerDeltaEng.doc, CrawlerDeltaEng.pdf, CrawlerDeltaRus.doc, CrawlerDeltaRus.pdf .
The all-terrain vehicle is equipped with an FPV camera with backlight. Two TT gear motors are used as engines (each for its own track). The power source is two 18650 batteries with the ability to charge via a USB type-C connector.
This model uses flexible, one-piece printed tracks made of TPU plastic. The total number of tracks is 78 per track. Each track is driven by its own TT motor-reducer. Ball bearings are used in the chassis to reduce friction.
In the front part of the body there is a servo drive, on the axis of which a bracket with an HC-04 ultrasonic range finder – the “head” – is fixed. It is assumed that during movement in automatic mode, the rangefinder rotates left and right within an angle of ≈120° to detect obstacles.
Also in the front part of the body on the roof of the cabin there is a rotating unit for mounting the FPV camera and the illumination spotlight. The TDS 1W LED is used as a spotlight. The camera mount allows the camera to rotate horizontally within an angle of ±60° from the middle position and vertically within an angle of ≈ 0°- 40° from the initial position.
There are two modes of movement of the model: manual control and automatic. Manual control is carried out using the PS2 remote control. The left joystick controls the left track, the right joystick – the right. The remote control also controls the camera and the spotlight. The camera is turned on and off with the "Triangle" button, the spotlight – with the "Circle" button. When the camera is on, its tilt and rotation are controlled by the keypad buttons, the "Cross" button is a quick return of the camera to its original position.
In the "auto" mode, the model moves straight, rotating its "head" within an angle of ≈120°. When the rangefinder detects an obstacle, the model stops, rolls back (the rollback time is set in the program), then turns to a random angle and moves on. It is interesting to observe how, moving in this mode, the model quickly finds an exit from the room and, in a fairly short period of time, goes quite far from the starting point.

Attached files:
CrawlerDeltaEng.doc, CrawlerDeltaEng.pdf, CrawlerDeltaRus.doc, CrawlerDeltaRus.pdf - model description;
CrawlerDelta.sch, CrawlerDeltaSheme.jpg, CrawlerDelta_sch.pdf - electrical circuit diagram;
Soft.rar - firmware for controllers and necessary libraries.