You should check out RobogamersTV on youtube. They created a whole bunch of videos that helped our team a lot.
https://www.youtube.com/user/robogamersonline
They have one specifically on Samantha, but our team found their other youtube videos really helpful:
https://www.youtube.com/watch?v=6O02nphornQ
The wiring with anderson poles was really great.
https://www.youtube.com/watch?v=M1FsxbLcM0w
Hope this helps.
