Re: pic: 4587 Swerve 1.0
Good stuff. I like how you're doing the bevel on the wheel, instead of relying on a press fit. Is the shaft of the VP being supported by a bearing on the plate? I'd put one on just to be safe. [Edit: Whoops! Ignore that, I didn't see the picture you posted earlier]
Also, do you have a means of zeroing your modules? With the VP encoder, you're not going to measuring wheel rotation but rather output shaft rotation, meaning that you'll find "zero" falsely multiple times over a single rotation of the wheel.