A hydraulic piston motor/pump is disclosed herein. The hydraulic piston motor/pump includes a first rotor including a first cylinder, a second rotor opposing the first rotor and including a second cylinder that opposes the first cylinder, a first swashplate including a first angled face adjacent the first rotor, a second swashplate adjacent the second rotor and opposing the first swashplate, a first shoe cage including a first piston opening, a second shoe cage including a second piston opening, a piston configured to travel into and out of the first cylinder and the second cylinder, a piston shoe configured to engage the piston, the first shoe cage, and the second shoe cage, and a shaft engaging the first shoe cage and the second shoe cage and configured to rotate in response to a rotation of the first shoe cage and the second shoe cage.

A hydraulic piston motor/pump includes a first rotor including a first cylinder, a second rotor opposing the first rotor and including a second cylinder that opposes the first cylinder, a first swashplate including a first angled face adjacent the first rotor, a second swashplate adjacent the second rotor and opposing the first swashplate. The hydraulic piston motor/pump further includes a first shoe cage including a first piston opening, a second shoe cage including a second piston opening, a piston configured to travel into and out of the first cylinder and the second cylinder, a piston shoe configured to engage the piston, the first shoe cage, and the second shoe cage, and a shaft engaging the first shoe cage and the second shoe cage. The shaft configured to rotate in response to a rotation of the first shoe cage and the second shoe cage.