pic: 6 CIM swerve CAD from 2471

[Bryce2471]

Originally Posted by asid61

What's the weight with what is shown in the picture?
Where are the turning encoders going?

Cool design. I likw the integration with the frame a lot. I would be a little worried about collisions, but you would need to test on that.

The weight for everything in the picture, should be about 15.5 lbs.
The encoders are a little hard to see in the picture, but they are there. they are mounted to the top of the upper gearbox frame, facing downward.
You're right that I will need to test this design to make sure that it holds up, but i'm pretty sure that collisions will be a non-issue.