Chief Delphi FRC47 (now FRC51) really had the first original swerve drive in FRC, here are some photos:
Granted, the FRC kit of parts had a lot of different motors back in it then that we do not have now, so a lot of that may look unfamiliar.
This module is the one you saw sold at AndyMark, heavily inspired by FRC111’s swerve modules – http://www.chiefdelphi.com/media/photos/34052
Here is one of 111’s modules from 2007 – http://www.chiefdelphi.com/media/photos/28444
1625’s swerve stuff: http://www.chiefdelphi.com/media/photos/26137
Mini swerve module – http://www.chiefdelphi.com/media/photos/34178