Swerve

Swerve X (Product Page | Manual)

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

Standard

Flipped 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)

Bottom Support Plate

Top Support Plate

Wheel Components

• Swerve X Colson Wheel Hub

• Swerve X Colson Wheel

• 4" OD x 1.5" WD Punched Tread

Colson Wheel Hub

Colson Wheel

Punched Tread

Swerve XS (Product Page | Manual)

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