FTC Coaxial Swerve Reveal

After long months of development and many weeks of editing, Team 16379, and members from others, would like to present our coaxial swerve drive.

This swerve has been a long development spanning multiple months and multiple countries. While this started off as a fun project, the end result exceeded our expectations.

Swerve drive specifications:
4 bare motors on a 10.5 external reduction for the 72mm wheels
8 superspeed servos geared down 2:1 for the rotation
Lamprey2 absolute encoders for angle measurement
3" X-Contact bearings to hold the module
Uniplate aluminum and carbon-fiber construction
~13" square dimensions
Roadrunner and custom kinematic implementations

CAD can be found here: https://cad.onshape.com/documents/f6d...
NOTE: Please do not ask for export access to this document as it will not be granted.

A thank you to our sponsors:
goBILDA for financial support and technical guidance
TheThriftyBot for the awesome bearings
221 Systems for the absolute analog encoders
Long Robotics for servo testing
Axon Robotics (well we had to pat ourselves on the back didn't we)

Also thank you to other supporters:
Kevin for financial support, milling, and just being willing to help
FTC teams 16750 and 16379 for dedicating team resources
The FTC Discord   / discord  
And many, many, others

Without you guys this project would not have been possible.

Credits:
Veer: Storyboarding, Filming, Editing and Design
Alex: Storyboarding and Design
Tristan: Filming and Editing
Jamie: Design