Common Features

• All configurations of the module use the same shafts

  • Modules can be swapped between every configuration and mounting style by simply using different plates

• Gear Ratios compatible with all Swerve X2 configurations

  • All Gear Ratios available in Steel and Aluminum versions

  • Allows for mixing and matching different configuration modules while using the same Gear Ratios

  • Free speeds range from X1 (13-16 ft/s) to X4 (18-22 ft/s)

• Optional aluminum bevel gear is available to save weight

• All gears have integrated shafts

• Less hardware required for assembly

• Modules accept multiple motors: Kraken X60 - NEO - NEO Vortex

• Bottom mounting plates are made of 7075-T6 to help with bending

  • Now 1/4" thick

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

• All modules can be mounted on top or bottom of the drivetrain tubes

  • Used to increase or decrease ground clearance

• #10-32 Tapped holes on Wheel Forks allow for custom wheel guard mounting

• 3.5” ID X-contact bearing

  • Fully captured by fork, 88t rotation gear, and bearing retention plate

• Simplified wheel removal makes swapping tread easier and faster

• 4 wheel options available for all modules

  • Aluminum wheel with black neoprene tread

  • Molded High Grip

  • Molded Smooth

  • Colson Wheel

• Motors can be easily replaced without taking apart the modules

• Top plates include additional holes on 0.5" hole

• Top Plate height is the same on all modules

  • Sits flush with 2" tall tubing

Standard Features

• 3 different drive motor locations for drive motors

  • Centered, Left, and Right

• Motors are bolted to an adapter that pilots to the mounting plate and allows for removal without module disassembly

• Least number of parts, lightest of the three X2 configurations

Inverted Features

• Supports Kraken X60 and future smaller brushless motors

• Supports a keyed ½” hex shaft for a ½” hex throughbore solution for position sensing of the module

• Modules are symmetrical

  • No left or right hand configuration

• Combined motor mounting plate reduces parts and makes assembly easier

Thin Features

• Supports Kraken X60 and future smaller brushless motors

• Supports a keyed ½” hex shaft for a ½” hex throughbore solution for position sensing of the module

• Feature flippable plates

  • Left and right hand configurations can be made from the exact same parts

• No gears extend past top plate and motor mounting plate profiles

• Extra bottom support plate added to support motors

• 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

The Zeroing Blocks below will be used to help align the wheel to the module so that a zero can be set in code.

Once you have your Blocks printed, zeroing the module will be a breeze. Simply align the block with the Wheel Fork and ensure the top of the block is flush with the Swerve X2 plate.

Layout Drawings

Tube Mount

Corner Mount

Weight Comparison

Tube Mount

Corner Mount

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.

Standard

Inverted

Thin