A Ball Turret is great, but the angles of fire for it seem minimal, maybe you should go with a cowling around the Ball with something similar to a L shape but curvy, that way you can have the whole cowling rotate on the Swarmer chassis and the Ball would only need to face forwards and to one side, the cowling thate rotates then letting the Balls more restricted motion cover a whole half hemisphere in aiming and firing.
TheOmnimercurial
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