4146 Swerve CAD

[glennword]

After lots of hard work, taking into consideration all the things said here on Chief, I've come up with this. After adding the second plate to support the shaft, I flipped the BAG and VersaPlanetary 180 degrees to give more ground clearance. I also added a 10 tooth #25 sprocket underneath the top plate in tandum with the VexPro Ball Shifter encoder gears to provide more accurate position control. There is one other option I've thought of for mounting the BAG and VersaPlanetary Gearbox. I could get rid one of the planetary stages, and add some gears between the plates to provide the desired reduction for steering the module. Is that a good idea? Is the extra weight worth the reduction in height? (in this situation I would flip the BAG back down to its original position) Please post any comments, questions, compliments, concerns or criticisms; I will respond as soon as possible.
Thanks