Swerve
Last updated
Last updated
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
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.
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.
Standard
3.841 lbs
3.274 lbs
Inverted
4.166 lbs
3.398 lbs
Thin
4.341 lbs
3.544 lbs
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
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
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
All weights for configurations are calculated without any motors, and using the molded hub pair and molded high-grip wheel.
Standard (X2S)
2.98 lbs
3.15 lbs
3.09 lbs
Thin (X2St)
3.64 lbs
3.82 lbs
3.76 lbs
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.
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.
Standard
3.29 lbs
2.90 lbs
Flipped
3.79 lbs
3.24 lbs
Standard
3.29 lbs
2.90 lbs
Flipped
3.79 lbs
3.24 lbs
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.
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
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
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.
All weights for configurations were calculated without any motors.
2.88 lbs
2.81 lbs
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.
Readily available accessories to complete your Swerve XS module build.
3" OD x 1" WD Punched Tread
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