Wow, this looks amazing! I like the belt tensioning system. A few quick questions:
- How do you drive the wheel? It is somehow coaxial, or driven by a motor that rotates with the wheel?
- What type of bearring did you use for the wheel steering?
- What diameter is the wheel?
Also, I know Aren_Hill famously said that a swerve drive should be built on the offseason and then given a year to sit before putting it on a competition robot. (I'm sorry, I can't find the quote right now.) What lead you to decide that a swerve was needed to be competitive, despite the fact your rookie team had never done one?