[artdutra04]

In addition to the need for more bearing support on the steering shaft, the bottoms of the CIM and BAG motors are awfully close to the ground. Remember that the wire leads of the CIM come out of the back, effectively decreasing your ground clearance further. You don't want to snag the CIM motor leads on the carpet or something else on the field and have it rip out the wires.

I would suggest when you add a second bearing support to the swerve module steering that you do so by increasing the height of the module slightly to get additional ground clearance for the motors.