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Swerve Module 1CIM 1Speed 3.25in vex pro wheel
1 CIM per module 1 Speed. 1st stage: 12t pinion to 40t 2nd stage: 32t input to 54t attached to wheel.
AM 9015 mounted to 100:1 Vex Pro planetary and 42:24t pulleys (HTD 5mm pitch 9mm wide belt) for pivot.
Module weight < 9.2lbs per. Robot weight supported on Needle roller thrust bearing 1-1/2in ID (McMaster Carr #5909K410).
Vex Pro 3.25in wheel. Vex Pro 3/8in hex id 15t bevel gears supported by steel thrust ball bearings 3/8 shaft (McMaster Carr #6655K150).
Using encoders from Automation Direct (TRD-MXxxxxAD series) for wheel speed and pivot angle.
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Alumni, CAD Designer, machinist, and Mentor: FRC Team #4080
Mentor: Rookie FTC Team "EVE" #10458, FRC Team "Drewbotics" #5812
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Life is not about avoiding risk, but managing it. - dtengineering [more] 
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