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.
