It has been a long time working to fix all the previous issues. I think I have one of the most final versions of the model. I’ve only made very tiny tolerance revisions after the final version rebuild so I think I’m mostly stable for the CAD. I’ve been printing out everything to finally build both pods at once. I’ve compiled changes that I’ve done only on one pod or changes that should have plenty of clearance to work. Right now the final shell is printing. I’ll probably work on getting both pods disassembled tomorrow and reassembling them with brand new parts and it should all be coming together quickly. I also worked a lot on the code. I made the robot field-centric and also started using odometry to help out with the accuracy. I haven’t done anything with auto yet but I hope to do something with Pedro pathing to have an auto pathing system for my swerve. I’m pretty excited, to build the final version of my project and have a final product so this can come to a close.