Crab/Swerve Drive Module Attachment Point

[DinerKid]

I have been getting really into crab drive since just a little while before championships. I was pumped to get to see so many awesome crab drive modules in Atlanta, many using bevel gears and a hollow shaft so the modules can spin as many times as they want. One question that i still have is quite possibly the biggest thing to overcome in making a crab drive chassis. How do you attach the module to the frame such that it is strong (will not have much play especially in a pushing match) and able to rotate.

Looking at the 221 revolution module i see what appears to be a thrust bearing but it is still confusing. Is it expected that you will slide the 1.5" Coupler piece into a hole drilled in the frame and attach it with a collar? That is what it seems to me from reading the description.

If you have a picture of a module attached to the frame that would certainly be very helpful

Thanks
~DK