pic: Swerve module iteration 1

[75vs1885]

I feel like doing maintenance on the worm gears would be a pain, getting them set is probably difficult. Why does there need to be a full sleeve around the whole unit? Weight can be saved by cutting a lot of that out. Also, it looks like you have a belt, but sprockets instead of pulleys, or vise versa. Pulleys can save a lot of weight, which could be extremely beneficial.