During the summer of 2024 our team had an idea to further develop a design for a differential crab drive/swerve. The concept of our configuration was developed by a previous member of our team. Our presentation below shows Version 1 of our design. It is mostly made of 3d printed PLA parts: printed frame, gears, spacers, brackets, and mounts. Version 2 replaced the frame parts with custom-machined aluminum parts. We experimented with other extras such as nylon gears. We ended up using the concept for our Gen2 during the 2024-2025 season. We managed to work most of the hardware bugs, but were not able to use the differential swerve for State Championships because of the development time needed for odometry pathfinding.