DIY RC Lanz Raupe (Bulldozer)

Description

Yet another smaller model; this time a Bulldozer! 
This model, although labeled D1581, can also be built in the D1560 variant. 
The difference between them beeing the blade. While the D1560 was mainly used for hard ground work on soft terrain, the D1581 with its blade was used on all sorts of construction projects. From building streets to factories, everywhere where youd need a bulldozer. 

With this model you can switch between both versions by simply screwing/unscrewing three screws and connecting/disconnecting two wires.

I've made a larger one in the past but decided I wanted to make a smaller one for indoors. It uses a web interface on your mobile device to control the bulldozer :)

The LanzRaupe utilizes standard N20 motors included with many electronics starter kits and available basically anywhere exept where I live XD.
For easy building I made a BOM (bill of materials) and instructions so anyone can build one :). 
The ESP32 Code is included here as a zip file, but is also available on GitHub.

Once you have all the components, the build time is about 2 to 3 hours.

Required tools:

-3D-printer (or a 3D printing service)
-soldering iron
-Hex keys/phillips head screwdriver (depending on the types of screws you get)
-(Electronics-) Sidecutters
-pipe wrench/hammer for seating the bearings
-JST crimping tool (if you, like me, can't source a battery with a JST plug. Alternatively you can replace the JST Plug on the PCB with a molex plug)

Change log:

06-09-2025: Uploaded model
18-11-2025: Added PCB design source files
08-01-2026: Added V2 of the Code fixing the jittering issue with the sliders