Models View all FRC Strain Wave Reducer/ Harmonic Drive 17 133 0 MK3 Differential Swerve (2.377lbs) 38 209 8 MK2 Differential Swerve (2.845lbs) 20 139 1 3.299 lb Mini Swerve 20 96 2 3.610 lb Swerve Drive 15 56 0 2 Speed 3D Printed Gearbox 16 60 3