As a small offseason project, I decided to design a swerve module with the main considerations being as compact as possible. The entire module is only 6.4" tall and has a footprint of 7.125"x7.125".
This module uses 3D printing extensively for the wheel mounts, the azimuth and the azimuth driving gear, the steer pulley, as well as the MA3 encoder mount. The azimuth itself has two teeth profiles, each of them offset from the other by half a tooth to help reduce backlash. The free speed is 16.1 ft/s.