This is team 2079 swerve module. Our goal was to combine as much functionality into one part as possible. Because it is cylindrical, all we need is two delrin rings to hold it in and we have a cog belt pattern CNCed into the top so we can actuate it.
The CIM is attached to the top with 3:1 reduction in the banebots planetary gear box, then a 3.5:1 in the bevel gears, and another 2:1 reduction in the sprockets to bring power to the wheel.