[jman4747]

Thank you for the feedback I will definitely change out the wheel shaft for something smaller most likely 1/4in bolt. Also will trim down the bottom of the pivot module. I believe the weight is overestimated for some of the bearings. I always just set those to "Alloy Steel" and leave em but some are solid models thus no air between the parts.

I'll likely rearrange the pivot motor/gearbox to engage the pivot shaft via gears to eliminate the belt (one failed point) altogether. I also think that change will reduce the weight.

Note that I based the pivot motor choice and gearing off of 1640's Swerve. I chose the AM9015 with this total reduction because it mimicked the torque output of a 540 geared 256:1 with a higher speed. I chose the Vex planetary because the cots hex shaft option means I can use the good selection of cots vex pro gears and pulleys. I didn't want to have to modify and custom make as much as possible. I also have and can get free more AM9015 motors through the kit, first choice, and the Andy mark voucher than any other comparable motor choice. At this rate I won't need to pay for any AM9015's, even for replacements.

Not sure about the drive speed. Total reduction is 5.29:1 to a 3.25in wheel. I used the JVN calculator and got 14ft/s free and 11ft/s loaded. I posted a picture.