[magnets]

I have some serious concerns about the strength of this swerve. To begin with, the 3/16th wall rotating module looks really weak, especially at the top corners. I'd be very concerned with this part "parallelogramming".

Secondly, your spring wave washer isn't going to be able to hold the bevel gear in the correct place axially, and you don't have a way to deal with bevel gear thrust loads.

Finally, you have a very weak bearing setup for axial loads on the rotating module. The lower of the three hex bearings will take all of the load, and will most certainly be destroyed.

Also, have you ever tried running a chain on a 16 tooth sprocket that spins at 5300 rpm? It's terrifying. There's a reason teams use gear reductions!