[jspatz1]

What you are describing is a very common rotary contact device called a "slip ring." There are many forms commercially available. One of the nicest is a mercury filled connector made by Mercotac, which gives noise-free current flow with zero wear. It is true that such slip rings or rotary connectors were suddenly deem illegal this year by FRC Q&A. This was via the response to a forum Q&A on the subject. Our sister team and our team were involved in the questions and responses that brought about this new restriction. We had researched the subject and found that the FRC forum had explicitly allowed their use on six different occasions in the last few years. However when asked about it this year, the response was that they now violated the wiring rules. Turns out in a 2-minute FRC match, with smart, efficient steering logic, infinite rotation in a swerve drive is not really needed anyway. We found that allowing for 4-5 rotations in a wire loop was sufficient. If the steering logic is right, the rotations tend to average out rather than accumulate in one direction. We had a register that tracked the accumulated rotation, and would tend to reverse it if it exceeded a certain limit, but that condition was rarely reached.