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.

Key Features

• 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.

• Allows for versatility with a range of compatible gear ratios.

• Easier assembly and maintenance.

• Alignment holes to zero module.

Purchasing the Swerve XS has been simplified to buying a "Complete Kit" or "Individual Components".

The "Complete Kits" will have all the necessary parts to assemble the Swerve XS minus motors.

"Individual Components" is an option for teams if:

• They already have some of the parts on hand, such as gears, bearings, or raw material

• Want to purchase spare parts

• Upgrading from one version to another version

The Swerve XS has two sets of tapped holes in the bottom plate that are used to mount the Zeroing Block onto the module. This will help align the wheel to the module so that a zero can be set in code.

Block Installation

To align the wheel, determine the correct set of holes to use for the desired direction. Manually align the wheel and then use a #10-32 x 1.5”L bolt in each of the two holes for the final alignment. Lightly tighten the bolt while gently turning the module to get the perfect alignment with the wheel module forks. Once the position is calibrated, remove the bolts.

WCP Swerve XS

Layout Drawing

Weight Comparison

Base Kits

WCP Swerve XS (WCP-1110)

Core Components

Swerve XS (Wheel Fork, 2-Pack) (WCP-1113)

Step 1

The 1/4” ID bearings are installed from the top side of the Bottom Plate. They are a light press fit and may be pressed in by hand or with an arbor press.

Step 2

The 2.5” ID X-Contact Bearing will be installed from the bottom side of the Swerve X Bottom Plate. It is a tight slip fit and can be installed by hand or with an arbor press, if necessary. The bearing should sit flush with the bottom side of the plate.

Once the bearing is fully seated, use the six #10-32 x 3/8”L bolts to retain it. The bolts should be tightened until flush with the bottom side of the Bottom Plate. The image below indicates the location of the bolts in green.

Step 3

These bearings are a light press fit and may be pressed in by hand or with an arbor press. It is critical that the flanges are on the correct side so that the motors will sit flat.

Step 4

These bearings are a light press fit and may be pressed in by hand or with an arbor press.

Step 5

Press the 66T Rotation Gear in by hand. If necessary, use a dead blow hammer to lightly tap it in.

The Bevel Gear Shaft must be installed through the bottom side of the 3/8” Rounded Hex bearing.

Step 6

The 1/4” ID x 1/2” OD bearing can be pressed into the Wheel Module Fork by hand. Only the Fork that aligns with the Wheel Module Drive Shaft needs a bearing. Once the bearing is in place, use the #10-32 x 1.5”L bolts to install both forks into the module.

Step 7

Use the #4-40 x 7/8”L bolts to install the 3D Printed Rotation Pulley. The step at the bottom of the 3D printed Rotation Pulley should sit flat with the 66T Main Rotation Gear.

Step 8

The Kraken X60 motor is installed using #10-32 x 1/2”L bolts. The 775pro is mounted using the M4 x 12mm L bolts.

Step 9

The magnet will come installed in the Encoder Shaft.

Slide all gears and shafts into position.

The Encoder Belt will be installed during this step. This can be done by placing it on the 3D Printed Encoder Pulley, and then sliding it onto the 3D Printed Rotation Pulley installed in Step 7.

Step 10

Use the the bolts shown in the drawings below along with 1 3/8"L spacers to assemble the bottom and top subassemblies.

Step 11

Install the CTRE Mag Encoder Mount using two #10-32 x 1/2”L bolts. To install the Mag Encoder, remove the board from the case and fit it into the cutout on the 3D Printed Mag Mount. Use the mounting bolts from the Mag Encoder to attach the sensor. The CANcoder can be used as a drop in replacement.

Assembly Prep

Refer back to the Complete Kits and Individual Components page to ensure that all necessary parts are located before starting assembly steps.

Tools Required For Assembly

These tools are required for the assembly of the WCP Swerve XS

• 3/8" Snap ring pliers

• Allen keys

  • 3/32"

  • 1/8"

Optional tools that may be needed:

• Arbor press

• Deadblow hammer

General Ratio Spread

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.

Swerve XS Gear Ratios

X1 Ratio Set (8mm SplineXS Bore, Swerve XS)

X2 Ratio Set (8mm SplineXS Bore, Swerve XS)

X1 Ratio Set (8mm Key Bore, Swerve XS)

X2 Ratio Set (8mm Key Bore, Swerve XS)

Step 12

Insert the 45T Bevel Gear by either tapping it in with a dead blow hammer or using an arbor press.

The Wheel Drive Axle is symmetric. The orientation it is assembled in does not matter.

Step 13

When installing the Wheel Assembly, be sure the 45T Bevel Gear and 15T Bevel Gear are on the same side.

If you are cutting your own tread, you can use the Tread Pattern shown below.

Installing the Swerve XS module has now been made as easy as a drag and drop placement into your drivetrain

The Tube Mount Swerve is the traditional style of swerve mounting. While designed in the familiar style of past generations of swerve, this configuration is much smaller and lighter. One of the primary benefits of this configuration is that it allows for a much less complex drivetrain assembly experience. Simply cut four 2" x 1" tubes to your desired length, and you’re just about good to go.

Notable features:

• Less complex frame tubes

• Has the option for low center of gravity or high ground clearance

• Takes up less space inside the frame when compared to the flipped configuration

These are some tips and tricks to keep the product running without a hitch. Failure to do maintenance may result in issues.

First Time Assembly

1. Loctite all bolts

2. Grease all gears

   1. We recommend a dry grease or white lithium for all hex bore gears

   2. We recommend Red n Tacky for the bevel gears

3. All bolts are tight and there are no gaps in the assembly

4. Gears mess correctly and everything spins smoothly

General Maintenance

1. Check for excessive wear in gears

2. Reapply grease

3. Verify everything still spins smoothly

4. No damage to printed parts

Yearly Maintenance

1. Disassemble gearbox

2. Replace all gears, if aluminum gears were used

3. Clean all components

4. Inspect all components for wear or damage

5. Reassemble with new bolts with Loctite and grease all gears

Q: What tread is recommended?

A: Any 1” Tread will work, the recommended options are the roughtop or wedgetop sold by WCP or McMaster (P/N 5994K1 for the black neoprene and P/N 5994K9 for the blue nitrile).

Q: Can I use other motors besides the Kraken X60?

A: The Swerve XS was designed with the Kraken X60 specifically in mind, however it can be swapped out for other motors following the 2" bolt circle.

Q: What are the compatible rotation motors?

A: The Swerve XS allows costumers to use the same mounting location for either the 775pro or the NEO 550.

Manual Updates

Product Updates