diff --git a/CAD/MastCam/9gServo.FCStd b/CAD/MastCam/9gServo.FCStd
index bd510c7..2dd9d24 100644
Binary files a/CAD/MastCam/9gServo.FCStd and b/CAD/MastCam/9gServo.FCStd differ
diff --git a/CAD/MastCam/MastCamFace.FCStd b/CAD/MastCam/MastCamFace.FCStd
index bb2cac9..1f35244 100644
Binary files a/CAD/MastCam/MastCamFace.FCStd and b/CAD/MastCam/MastCamFace.FCStd differ
diff --git a/CAD/MastCam/MastCamRear.FCStd b/CAD/MastCam/MastCamRear.FCStd
new file mode 100644
index 0000000..eb004b9
Binary files /dev/null and b/CAD/MastCam/MastCamRear.FCStd differ
diff --git a/CAD/lewis-crawler.FCStd b/CAD/lewis-crawler.FCStd
index a31777a..e11802b 100644
Binary files a/CAD/lewis-crawler.FCStd and b/CAD/lewis-crawler.FCStd differ
diff --git a/crawler_software/config/hardware.yaml b/crawler_software/config/hardware.yaml
new file mode 100644
index 0000000..02aec0c
--- /dev/null
+++ b/crawler_software/config/hardware.yaml
@@ -0,0 +1,5 @@
+wiper_servo:
+  pin: 17
+  min_pulse: 0.000544
+  max_pulse: 0.0024
+
diff --git a/crawler_software/servo_test.py b/crawler_software/servo_test.py
new file mode 100644
index 0000000..836b70c
--- /dev/null
+++ b/crawler_software/servo_test.py
@@ -0,0 +1,19 @@
+import RPi.GPIO as GPIO
+import time
+
+servoPIN = 17
+GPIO.setmode(GPIO.BCM)
+GPIO.setup(servoPIN, GPIO.OUT)
+
+p = GPIO.PWM(servoPIN, 50) # GPIO 17 for PWM with 50Hz
+p.start(2.5) # Initialization
+try:
+  while True:
+    p.ChangeDutyCycle(10)
+    time.sleep(2)
+    p.ChangeDutyCycle(2.5)
+    time.sleep(2)
+except KeyboardInterrupt:
+  p.stop()
+  GPIO.cleanup()
+
diff --git a/sstv.py b/crawler_software/sstv.py
similarity index 100%
rename from sstv.py
rename to crawler_software/sstv.py