5205 Traction Diff Swerve 2019 Offseason CAD release

I’ve been waiting to see this since the first upload you did of this with the testing rig in Sept. 2018. This was one of the first posts I saw on CD (way back at the old site when I was still kind of a rookie), and man is this a cool swerve implementation.

Are you actually planning on using this on the playing field in 2020? Also, will you be willing to share the CAD of that testing rig?