pic: FRC-34 2009 Swerve Module w/CIM (Front View)

[Vikesrock]

Originally Posted by BenX02

This is an awesome design. I have a question though, I have been designing some of my own crab modules, but a problem I have run into is wiring. How are you going to prevent the wires from getting wrapped around when your modules are turning?

Many solve this problem by limiting the rotation of the module, either through software, hardware, or both.

If I remember right from another picture of this module the silver piece on the left side of the bottom circle of the module is used as a a hardware rotation stop.

EDIT: Found the post here. The piece is indeed a hardware stop limiting the module to 320 degrees of rotation.