[asid61]

Looks interesting, for sure. I would want to take a closer look at the CAD, particularly the shifting mechanism, but this view is fine.

Good stuff:
The overall design is nice. Coaxial, that's a plus. Shifting is great. I really like what you're doign for turning the module, as it saves a ton of space. Efficiency with worm gears and mounting could be problematic, but that's just to me. The overall space usage of thise drive looks really good, as most of it hangs over the 2x1 or other elements of the chassis.

First off:
What size wheels are those? 6"? Anything more than 3" is overkill IMO unless the game demands it. Smaller wheels means smaller axles, lower gear ratios, and overall much less weight. If you flip your CIMs upside down, it will be much more workable with those size wheels.

What are you trying to solve with the shifting mechanism? The massive amounts of weight that cylinder and its mounting will add to your drivetrain is not worth the change from ball or dog shifting.

What is the total weight? #2 problem with swerves (behind complexity) IMO is weight and space, especially because you are only running 4 cims. Space looks good, but what is the overall weight of the drivetrain? Optimizing this would be great.

Also, plan for failure (in a manner of speaking). Will it be easy to swap out modules between matches? Especially with that shifter.