We implemented a spiral development process four years ago, transitioning from a V-shaped Waterfall process. This is more agile and more easy to get to production a robot that can be improved through the season. We took the process that we use during a season for one robot and expanded it with this time to implement the improvements for full robots. This led from Kyber (a winning robot) to Kyber 2.0 and ultimately to a new design incorporating all of the lessons we learned from Kyber in Bahkar. Kyber was a tall robot with distance to shoot from behind the trench and a fast and efficient climber, but she had trouble with intake and magazine as well as with center of gravity which was stressful when running fast. Bahkar has a new Swerve drive, as well as a hooded turret shooter and wide intake. He is also a low robot, which prevents tipping issues.