As promised, here are several pictures of our swerve module. On this particular module, there is no turning sensor or wheel encoder, but the brackets that mount each one are present. As you can see in the photos, this module has a two speed coaxial shifting transmission for the drive and a single speed transmission to turn the modules. Nearly all of the parts were custom fabricated. All internal parts including our gears were made in our shop. The sheet metal box structure for the wheel module and transmission plates were made by one of our sponsors.
Enjoy!
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