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.
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.
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.
For the above to work, the encoder must be mounted in the same orientation and position on all of your modules, regardless of whether right-hand or left-hand plates are being used. When looking top-down at your robot, the positions the encoders are mounted in should be pointing in the general direction of the red arrows in the diagram above. All top module plates have mount holes for the encoder on both sides of the plate to ensure all encoders can always be setup like the diagram above. This includes both the rotational position of the encoder relative to the module, and whether the encoder is facing up or down (we recommend having the side with the LED facing down on the module).
The Zeroing jig 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 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.
The fork without the bevel gear must be the one to sit against the zeroing jig to work properly. Make sure that the bevel gear on the wheel is facing towards the inside of the module/robot.
Optimized to take advantage of size and performance of the Kraken X44 brushless motor for steering power. The module is also able to accept other standard 550 and 775 style motors, including NEO 550, 775 Pro, 775 RedLine, BAG (Pinion not included for BAG).
Steering motor can be removed from both X2S and X2St modules without taking apart any other part of the module.
Modules can accept a number of common drive motors, including Kraken X60, NEO, Vortex, CIM, and MiniCIM.
The CIM and MiniCIM can only be used on the X2S version, as they are too large to fit on the X2St.
The Falcon500 could be used if proper pinion gears for the X2S version, and proper pulley for the X2St version can be sourced. WCP does not offer the parts needed to use the Falcon500 on this swerve module.
The Kraken X44 can be used for the drive motor, however we recommend only doing so for testing, etc. and not for competition use.
Both module versions are designed in the "corner-mount" style, pushing the wheel as far to the corner of the frame as possible for maximum possible wheel-base size.
Modules designed to accept standard 2in tall frame tubes, with the frame height the same for both module versions.
Both versions of the module have right-hand and left-hand options available.
Difference for standard X2S version is minimal: package size does not change, just which side encoder and steering gears are on.
Bottom plate for a given hand is shared between X2S and X2St.
Straight-forward upgrade path to swap back and forth between the two versions (given the same hand). Conversion kits drop-down option on the product pages make it easy to get the parts you need to switch versions.
Steering ratio does not change between versions The same parts are used between both versions, with the addition of a single additional idler gear shaft for the X2St.
The module supports 3 types of wheels. All wheel options are 3.5in diameter.
Aluminum hub for standard 1.5in wide tread material; pre-punched tread available.
Two-piece plastic hub combined with a molded high-grip wheel that features V-shaped taper to lock the wheel to the hubs. The molded high-grip wheel is 1.75in wide. This means no bolts to come loose and easy to do wheel swaps.
Molded smooth wheel that works with the same two-piece hub as the high-grip wheel above. This molded smooth wheel is also 1.75in wide. This is great for demo events where floor damage needs to be minimized, or for other uses where you do not need the extra 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.
Dimensions are for the main module area and do not include mount wings. Dimensions are from the edges of the plates which align to the frame perimeter, and from the floor. Height assumes Kraken X60 used for drive on X2S configuration. Clearance to ground assumes Kraken X44 used for steering on X2St configuration.
All weights for configurations are calculated without any motors, and using the molded hub pair and molded high-grip wheel.
| Configuration | Length | Width | Height | Clearance to Ground |
|---|
| Configuration | w/o Encoder | w/Spartan Mag or CANcoder | w/ WCP ThroughBore |
|---|
Standard (X2S) | 4.500 in | 4.500 in | 8.313 in | 3.375 in |
Thin (X2St) | 4.500 in | 7.188 in | 6.000 in | 1.375 in |
Standard (X2S) | 2.98 lbs | 3.15 lbs | 3.09 lbs |
Thin (X2St) | 3.64 lbs | 3.82 lbs | 3.76 lbs |
Optimized to take advantage of the WCP ThroughBore by CANcoder (1/2" Hex Bore). This encoder can be installed on-axis and, when assembly instructions are followed, results in no need for setting the zero position of the module. This means that swapping modules or encoders does not require resetting the zero position.
The REV Through Bore Encoder can also be mounted the same way as the WCP ThroughBore by CANcoder (1/2" Hex). There is a zeroing jig that can be printed or purchased to then set the proper position of the wheel and set the zero position.
The module includes the Spartan Mag Encoder, which can be used for the absolute position of the steering control. All hardware needed to use this encoder is included with each module. The zeroing jig mentioned above can be used to zero the wheel positions.
The modules also have the option to use the CTR CANcoder or SRX Mag Encoder with the same hardware used above for the Spartan Mag Encoder. There is a different plastic housing used for these encoders. The zeroing jig mentioned above can be used to zero the wheel positions.
Both module versions can be removed from the frame by pulling it to the outside corner of the robot. This means there is no need for extra clearance to the inside of the module to be able to remove the modules from the robot. Simply take the mount screws off and rotate the module out of the corner of the frame.
All top plates have a standard 1in pitch array of #10-32 tapped holes to allow for easy mounting of other COTS components for your robot design. These holes are also on pitch with the frame mounting holes.
Both versions of the module are enclosed from the top and bottom to prevent debris from getting into the modules.
Simplified wheel and fork assembly results in less parts and easier method of swapping wheels. Forks now have built-in spacers which eliminate the need for snap rings or spacers on the wheel shaft to hold the wheel in place.
All gears come as steel aside from the large 74T steering gear, which is 7075 aluminum to provide great strength. Where possible, shafts have been built into the gears which reduces backlash and components.
Various mount hole options for clocking motor wires in different directions, including straight to the left and right sides, and at 45 degrees down the middle.
If a Kraken motor is used for the drive motor, it can mount to a separate plate that then mounts to the main top plate. This allows for easy removal of the motor without the need to take apart the rest of the module, and eliminates the risk of motor mount screws falling down into the module.
This is limited to Kraken motors due to shaft and machine key lengths on other drive motor options. Other drive motor options need to be directly mounted to the main top plate.
All mount holes for both the drive and steering motors are accessible without taking apart anything else on the module.
1in wide frame members can be placed directly on top of the module without any interference for additional robot structure.
