I've done this same sort of thing to my Infinus. I used an Arduino Micro driving some EM relays and reading pulled-up inputs from all of the switches. I will be switching from the 9 Volt battery for the Arduino and the stock 4D Alkaline tray for the motors to a 3s Lipo, a voltage regulator for the Arduino, pusher, and loading mechanism, and a MOSFET for the flywheels. I will also be upgrading to OOD Krakens for the flywheel motors.
Here's the code I am using: https://create.ardui...a343c42/preview
Your project was the primary inspiration for my attempt! Thank you! This project is amazing!