The article is mostly about the CD-850 but i also put a lot of stuff regarding z51r and the tn12, the part where i go into detail about centurion and chieftain is in here "Comparison of Triple Differential Steering Systems" and also some information about the chieftain in "TORQUE AND VELOCITY SPLIT" section, you can find both of these sections in table of contents and click it and it will jump into that section directly ๐.