Team 599 Swerve Design V1

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We're stuck in neutral here, but one concept catches our eye: a bevel-beside wheel swerve drive that Team 599 might employ if they lose their grip on sanity and decide to actually use swerve. This design is geared towards rapid, simple manufacturing with a lathe, mill, CNC router, and 3D printer. The module's footprint boasts perfect symmetry. Details: Drive: NEO teams up with an 11:30 spur gear reduction and 20:40 bevel reduction, pushing a 3" nitrile treaded 3D printed wheel for a breakneck speed of 13.62 ft/s. Velocity is sensed by the NEO's integrated "encoders." Azimuth gets its boost from a NEO 550 paired with a 6:54 spur gear reduction and 18:54 belt reduction, hitting free speeds of 407 RPM. Azimuth tracking relies on a REV through bore hex encoder mounted on the driving shaft of the final reduction. This swerve idea was sparked by FRC teams 910, 2910, 33, and 1323, among others.