After posting my update yesterday, I realised that there was one thing that I forgot to mention: our OKI-78SR-5 switching voltage regulator arrived last week, and replaced the old voltage regulator in Glitterator. Oh how I wish I had pushed harder for this earlier on! It has made such a difference to the performance of the robot. Not only does it not overheat, the battery life is massively better. No longer dissipating all that power as heat!
Now we are getting hot motors, but hopefully we won’t fry them!