[Ari423]

I always love seeing your designs.; they are the reason I taught myself CAD so Icoukd aspire to make stuff like you do. A sub 5lb swerve module is an amazing accomplishment! I have a few questions:

1. How is the small bevel cluster shaft being held in (on the top and bottom)? I see there's something under the small bevel gear but I don't see what it is.

2. Unless it's an interference fit, I could imagine a scenario where the robot rides up on a field obstacle or another robot and the gear gets pulled off the large bearing. In your first version of 150 you have screw holding the gear and bearing together. Did you remove them for weight savings or was there another reason?

3. Is there an encoder on the CIM that I can't see? I though that was usually a requirement for swerve.