Bidirectional brake capstan/pulley

This is a bidirectional capstan/pulley for robotics. While it's axel is spinning, slowing down one disk brake makes the pulley/capstan spin in one direction and slowing down the other disk makes the pulley/capstan spin in the opposite direction. The trick is that the axel never stops spinning so you can drive cables or belts by braking the disk. Freecad files are included.

For more information look at my other project (Capstan Differential Brake Actuator):
https://www.thingiverse.com/thing:4327799
Also this is a related project:
https://hackaday.io/project/171924-braker-one-robot