Zeroing Module

Both of the below methods align the wheel at a 45 degree angle from straight. Be mindful of this when programming your swerve drive. This allows all modules to be setup the same, including spare modules, which makes it easier to do encoder or module swaps without needing to redo any zeroing process.

WCP ThroughBore by CANcoder Zeroing Process

If you are utilizing the WCP ThroughBore by CANcoder (1/2" Hex bore), you can avoid going through a zeroing process for your wheel positions.

WCP ThroughBore by CANcoder (1/2" Hex), blue highlight shows alignment notch
ThroughBore encoder hat, blue highlight shows alignment notch

The ThroughBore encoder hat that is installed on the module has a notch on it, and when aligned with the notch on the WCP ThroughBore by CANcoder, all of your modules will have the exact same zero position of the wheel relative to the encoder.

Black: Robot frame perimeter Blue: Wheels at their zero position Red: General direction of WCP Throughbore encoder when mounted

Manual Zeroing Process

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

WCP Swerve X2S Zeroing Jig STEP file

Once you have your zeroing jig printed or purchased, zeroing the module will be a breeze. Simply align the jig with the wheel fork and the sides of the main bottom plate of the module.

Flanges on zeroing jig butt up against the side faces of the bottom module plate
flat angled side of zeroing jig should butt up against flat side of wheel fork if wheel is aimed properly

Last updated