Nice design as it used KOP items and simple framing materials. My only suggestion, considering that our team has no swerve experience but is working a summer proto-type, is that you consider the following.
I would prefer using a window motor with it's worm gear transmission to hold the steering position verses the Globe and it's back-drivable planetary gear system. Maybe this is not an issue and it is a waste of the window motor which could be needed for an arm or other manipulator. I do like the ability to steer two modules together. This too is something we are considering. Adds a few more options than having all four steered together and I don't know how one steers all four seperately without using a half of the KOP motor inventory for just the drive-train.
