LogoLogo
  • FRC Build System
  • System Standards
    • Tools
    • Materials
  • Spline & MotionX System
    • Extrusion
    • Sprockets & Gears
    • SplineXL Accessories
  • Build Guides
    • Competitive Concept
    • GreyT Assemblies
    • Everybot
  • Product Manuals
  • Belts, Chain & Gears
    • Overview
    • Belts & Pulleys
    • Sprockets & Chain
      • Chain Accessories
    • Gears
  • Gearboxes
    • Overview
    • Drive Gearboxes
    • Swerve
    • More Gearboxes and Accessories
  • Hardware & Tools
    • Overview
    • Hardware
    • Fasteners
    • Machines & Tools
    • Misc. Hardware
  • Electronics & Pneumatics
    • Overview
    • Brushless Motors
    • Sensors
    • Pneumatics
    • Wiring & Connectors
    • Miscellaneous
  • Systems Structure
    • Overview
    • Motion Systems
    • Robot Systems
    • GreyT Systems
    • Framing & Material
  • Wheels & Hubs
    • Overview
    • Traction Wheels
    • Roller & Shooter Systems
    • MultiDirectional
    • Accessories
  • Shop Accessories
    • Overview
    • SuperPit
    • SuperCart
    • OMIO & Accessories
  • Legacy
    • Overview
    • Legacy Products
Powered by GitBook
On this page
  • Swerve X2 (Product Page | Manual)
  • Weight Comparison
  • Drive Ratios
  • Accessories
  • Swerve X2S (Product Page | Manual)
  • Weight Comparison
  • Drive Ratios
  • Accessories
  • Swerve X (Product Page | Manual)
  • Weight Comparison
  • Drive Ratios
  • Accessories
  • Swerve XS (Product Page | Manual)
  • Weight Comparison
  • Drive Ratios
  • Accessories
Export as PDF
  1. Gearboxes

Swerve

PreviousDrive GearboxesNextMore Gearboxes and Accessories

Last updated 5 months ago

Swerve X2 ( | )

WCP’s newest generation of the swerve drive module, designed from the ground up to utilize the powerful Kraken X60 brushless motor to improve performance and remove complexity. This new design more versatile than our previous modules, and truly makes omnidirectional driving as simple as plug and play.

  • Supports 4" OD x 2" wide wheels

  • 3 variants available: Standard, Inverted, and Thin

    • Corner and Tube Mount versions available for each option

  • On axis encoder mounting

  • Aluminum and Steel gears available for all gears

  • Single bolt removal for wheel swap

  • Motors easily replaced without module disassembly

  • Accepts common motors

  • Less parts than previous versions

  • No belts in any of the modules

Standard

Inverted

Thin

Weight Comparison

All weights for configurations were calculated without any motors.

Corner Mount module weights do not include the weight for either the Top Support Plate or the Bottom Support Plate.

Tube Mount

Configuration
Steel Gears
Aluminum Gears

Standard

3.821 lbs

3.254 lbs

Inverted

4.146 lbs

3.378 lbs

Thin

4.321 lbs

3.524 lbs

Weight calculated using the Aluminum Wheel and Tread.

Corner Mount

Configuration
Steel Gears
Aluminum Gears

Standard

3.841 lbs

3.274 lbs

Inverted

4.166 lbs

3.398 lbs

Thin

4.341 lbs

3.544 lbs

Drive Ratios

The X gear ratios are designed to be a consistent spread across all Swerve X2 configs. All X Gear Ratios come with 3 pinions on the same pitch to get the spread.

The Rotation Ratio is the same throughout all motor configurations using the 10t pinions, which is compatible with all motors. The overall rotation gear ratio will be 12.1:1

Accessories

Readily available accessories to elevate your Swerve X2 module build.

Mounting Hardware

  • WCP Swerve X (Bottom Support Plate)

  • WCP Swerve X (Top Support Plate)

Wheel Components

  • Swerve X2 Aluminum Wheel

  • Swerve X2 Colson Wheel

  • Swerve X2 Molded Wheel

Tread

  • 4" OD x 2" WD Punched Tread

  • 4" OD x 2" WD Molded Tread (High-Grip)

WCP’s newest generation of the compact swerve drive module, designed from the ground up to utilize the powerful Kraken X60 brushless motor for drive, and the compact Kraken X44 brushless motor for steering. This new design is more versatile than our previous compact module, and strikes an ideal balance between performance, size, weight, and cost.

  • Less hardware required for assembly.

  • Module accept multiple motors: Kraken X60 - Kraken X44 - NEO - Vortex.

  • 2 variants available: Standard and Thin

  • Wide drive base footprint.

  • Optimizes the robot's layout for efficient drivetrain component layouts.

  • Lightweight and compact design.

  • On axis encoder mounting with the new WCP ThroughBore Powered by CANcoder

Standard (X2S)

Thin (X2St)

Weight Comparison

All weights for configurations are calculated without any motors, and using the molded hub pair and molded high-grip wheel.

Configuration
w/o Encoder
w/Spartan Mag or CANcoder
w/ WCP ThroughBore

Standard (X2S)

2.98 lbs

3.15 lbs

3.09 lbs

Thin (X2St)

3.64 lbs

3.82 lbs

3.76 lbs

Drive Ratios

Accessories

Readily available accessories to elevate your Swerve X2S module build.

Wheel Components

The newest generation of our swerve drive module, designed from the ground up to utilize the powerful Kraken X60 brushless motor to improve performance and remove complexity. This new design is smaller, lighter, and more versatile than our previous module, and truly makes omnidirectional driving as simple as plug and play.

  • Modules accept multiple motors: Kraken X60 - 775pro - 550 motors.

  • Natively supports CAN and Mag Encoder

  • Alignment holes to zero module.

  • Clearance holes so motors can be removed without disassembling gearbox.

  • Easy to install encoder locations

  • Flipped and Non Flipped option

  • Wheel height is the same regardless of configuration, so it is possible to mix and match modules on robot.

Tube Mount

Corner Mount

Weight Comparison

All weights for configurations were calculated without any motors.

Corner Mount module weights do not include the weight for either the Top Support Plate or the Bottom Support Plate.

Tube Mount

Configuration
Steel Gears
Aluminum Gears

Standard

3.29 lbs

2.90 lbs

Flipped

3.79 lbs

3.24 lbs

Corner Mount

Configuration
Steel Gears
Aluminum Gears

Standard

3.29 lbs

2.90 lbs

Flipped

3.79 lbs

3.24 lbs

Drive Ratios

The X gear ratios are designed to be a consistent spread across all Swerve X configs. All X Gear Ratios come with 3 pinions on the same pitch to get the spread.

Swerve X Gear Ratios (Standard)

The Rotation Ratio is the same throughout all motor configurations using the 10t pinions, which is compatible with all motors. The overall rotation gear ratio will be 396/35:1 or 11.3142:1

Swerve X Gear Ratios (Flipped, Gears Below)

The Rotation Ratio is the same throughout all motor configurations using the 10t pinions, which is compatible with all motors. The overall rotation gear ratio will be 468/35:1 or 13.3714:1

Accessories

Readily available accessories to elevate your Swerve X module build.

Mounting Hardware

  • WCP Swerve X (Bottom Support Plate)

  • WCP Swerve X (Top Support Plate)

Wheel Components

  • Swerve X Colson Wheel Hub

  • Swerve X Colson Wheel

  • 4" OD x 1.5" WD Punched Tread

WCP’s newest generation of the swerve drive module, designed from the ground up to utilize the powerful Kraken X60 brushless motor to improve performance and remove complexity. This new design is smaller, lighter, and more versatile than our previous module, and truly makes omnidirectional driving as simple as plug and play.

  • Less hardware required for assembly.

  • Module accept multiple motors: Kraken X60 - 775pro - 550 motors.

  • Smaller and lighter 2.5” ID X-contact bearing.

  • Wide drive base footprint.

  • Optimizes the robot's layout for efficient drivetrain component layouts.

  • Lightweight and compact design.

  • Alignment holes to zero module.

Weight Comparison

All weights for configurations were calculated without any motors.

Steel Gears
Aluminum Gears

2.88 lbs

2.81 lbs

Drive Ratios

The X gear ratios are designed to be a consistent spread across all Swerve XS configs. All X Gear Ratios come with 3 pinions on the same pitch to get the spread.

The Rotation Ratio is the same throughout all motor configurations using the 8t pinions, which is compatible with 550/775 motors. The overall rotation gear ratio will be 165/4:1 or 41.2500:1

The X1 Ratio Set is on a 14t Center Distance and the X2 Ratio Set is on a 16t Center Distance.

Accessories

Readily available accessories to complete your Swerve XS module build.

  • 3" OD x 1" WD Punched Tread

Swerve X2S ( | )

Swerve X ( | )

Swerve XS ( | )

Product Page
Manual
Product Page
Product Page
Product Page
Manual
Manual
Manual
Bottom Support Plate
Top Support Plate
Aluminum Wheel
Colson Wheel
Molded Wheel
Punched Tread
Molded Tread (High-Grip)
Standard (X2S, Right-Hand, Through Bore Encoder)
Thin (X2St, Right-Hand, Through Bore Encoder)
Swerve X2S Aluminum Wheel
Swerve X2S Molded Wheel (High-Grip)
Swerve X2S Molded Wheel (Smooth)
Standard
Flipped Tube Mount
Bottom Support Plate
Top Support Plate
Colson Wheel Hub
Colson Wheel
Punched Tread