pic: Light Weight Swerve Module

[asid61]

5.25lbs with the motors, shifting gearbox, AND module!
You win swerve. Seriously, this weighs less than a WCD. If you make a 4-cim, 4 minicim version then there would be very little disadvantage to using this apart from the programming and driving. I also think you could make this into a shifting version without too much trouble.
How are you tensioning the belt? If it just slides along the track you have and is clamped by screws, I would defintiely change that to having something similar to 192's gearbox wehre you have seperate holes for each tension. Sliding tensioers with friction holds are sketchy IME. That was the primary reason why our drivetrain failed this year. It might not be as bad on the cim, but it won't add weight to change that slot to holes.
How much ground clearance for the cim and module? Why banebots over versaplanetary? A BAG motor and that massive gear reduction will allow you to use a single-stage versaplanetary for the turning motor.
Where is the top plate? If it's not present, that should be okay, but testing this would be of high importance IMO.

If you could release the CAD, that would be a boon, but I understand if you don't want to.

EDIT: Wait, is that CIM held on by only two standoffs? That seems very insecure; add at least one more for strength..