Here comes ours too
 

I have sent our swerve gearboxes DWG out to quite a few people already so I just sent it up to the White Papers also. The layout of the print isn't as good as it should be but here is what the gearboxes consist of. We used the Bosch and the FP motors only and placed them in a compact unit with wheel (started out as a modification of last years Wildstang Omni Wheels ended up 2 were switched out for more traction, rollers were made of knurled aluminum instead of Delring with o-rings since those were instantly destroyed) all four are identical (Both BOSCH's run the same direction) except for the center motor mount plate (and the first gear that connects to the motor, stage 2 of reduction is the same on both sets) The aluminum wheels were bolted to a yoke that was welded to the main shaft, all other gears are welded. We added in aftermarked 'extruded aluminum' heatsinks to all motors and never had a failure in 2 reigonals and nationals running this setup. As a bonus I put up the PBasic code on the codex to show how we controlled the swerve drive with 1 joystick. To mount these drive units we welded a 2" dia. tube to the top of each drive unit, and put a recieving tube on the chassis that rotated and stayed aligned. A single bolt was all that was required to remove the drive unit and replace it if anything went wrong. I have pictures if anyone wants them