We didn't have a single issue with it at the Central Illinois Regional.
http://www.thebluealliance.com/match/2014ilil_qf4m1
Check out the impact we deflected with 58 seconds left.
I just uploaded a technical paper one of our students, John Duffy, wrote about Team 2451 Pwnage 2014 swerve drive. There are many additional pictures that John created, exploded views, section views, etc. There is also additional specifications and descriptions for your viewing pleasure.