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MOSFET-based switching instead of relays
Found some cheap Pololu MOSFET switches that can handle PWM/digital inputs signals and much faster rates of switching than physical relays. Lighter and smaller form factor than the current relay board.
Can handle 6A between 2 and 20V and only $3.49 each (would need x4 for all channels). Have ordered some to test and will report back!
When coupled with GPS, could pulse each nozzle for turn compensation.