[Team1710]

I"m going against the idea of integrating the cim motor. By doing so, we would be limiting the number of other motors we could be using on other parts of the robot. Our team has had bad experiences with right angle gear boxes. The only other thing I could think of using would be beveled gears.

Edit:
Also I would like to ask how you can keep the shafts within the modules from moving. Looking through swerves I haven't found a solid idea.