[lukevanoort]

Looking at this makes me think that it would be easy to make a ball-bearing shifter and build that into a swerve module. Now, that'd be awesome. I agree with RogerR on the rod placement, and I'll add that you might want to consider moving the wheel down some, it looks like it brings the module too close to the ground. You have to remember that the wheel material will compress a bit with the robot's weight on it and wear down a bit.