The swerve module uses a CIM to drive and an RS-550 to turn. The turning was done under the module to keep a low moment of torque and a fairly short module to easily fit the ball over. The modules have a theoretical max speed of 12.3 fps. We used a catapult with extension springs and the andymark shift-to-neutral gearbox (stupidest piece of $#@& ever) and a roller bar with polycord driven by an RS-555 for intake. Renders and pictures:
http://imgur.com/a/dtbxI
The swerve has changed since the render here. We have turned the CIM vertical and removed the first set of bevel gears, leaving only the ones in the wheel module. There are a number of problems that will need to be addressed with the modules, including:
-the wheel tread rubs on the module
-the vertical shaft running to the wheel module can come out of alignment
-the gears in the wheel shaft are a little to close together
-the encoder mount is very poor
-chain for turning isn't such a hot idea
-does not mount to 2"x1" tube easily
-no belt or chain tensions
CAD:
Gearbox:
https://drive.google.com/file/d/0Bz-...it?usp=sharing
Robot:
https://drive.google.com/file/d/0Bz-...it?usp=sharing
And the bevel gears falling off was because of our stupidity in forgetting to tighten them... They fell off in our shop as we were loading the robot.
Edit: Some facets of the design have changed since the CAD. Also, the cad is colored because we intended to powdercoat but didn't have enough time.