My team has chosen to do a swerve style drive train. We purchased modules of andymark http://www.andymark.com/product-p/am-3009.htm and we are having some issues with driving the wheel off the CIM motor. Some of them turn as they are intended to but others have issues with the ring and pinion gear arrangement. Some of them are too tight where as there is another module where it is too loose. This results in each wheel turning at different rates which makes the system not as reliable for autonomous. Does anyone have any suggestions for fixing this issue?