[Greg Needel]

nice design. One thing you might want to consider is connecting the drive modules together so torque is transferred through each wheel. This will be adventitious if any of your wheels looses traction, the torque will be transfered to other wheels, keeping your power high. This is the major downfall of swerve drives, that your total power is the sum of 4 individual modules. compared to a standard drive of adding 2 modules. The change is in overall system efficiency. Although with your design it is possible to avoid this issue.