pic: JP Swerve
 

Re: pic: JP Swerve
 

Looks good. The only thing I would be worried about structurally is the use of MDF over plywood or something.
42 rpm for turning the module seems really slow. The original 100rpm of the motor could be a better fit. In the picture it looks like the larger gear is on the window motor, are you sure that it's not 100 x 2 = 200rpm?
Why gears over belts for the first stage?
Are you using this for this year?

Re: pic: JP Swerve
 

Looks good. But if you are planning on using this for Stronghold, on the slight off chance that you go over the rough terrain the wrong way, you might have the gear next to the wheel or the upside-down CIM scraping against the steel rough terrain. :ahh:

Re: pic: JP Swerve
 

We were concerned about plywood's tendency to splinter. Is plywood stronger for this purpose than MDF?

My bad. The ratio is 2:1 for 84*2 = 168rpm.

This swerve module is designed to be fairly low-cost, and we had access to most of the gears used in the first stage (as opposed to compatible belts/pulleys). Money is also the reason that it's fabricated largely from wood, not aluminum.

The swerve module is being used for a robotics side project, not for Stronghold, although I'd love to see what 16, 2451, etc. have brewing for this year's challenge.

Re: pic: JP Swerve
 

Yes. 1/4" Baltic or Finnish birch plywood (not lauan or cheap 1/4" ply) will be much stiffer than 1/4" MDF.