Converting to Gear Cartridge

The following sections will cover everything that team should know if they wish to convert previous iterations of a WCP Swerve X Flipped module to the new Gear Cartridge version.

Parts Needed

All available Swerve X Central Gears have been listed in the table below for teams to select. One Swerve X Central Gear and one Swerve X Column is needed per module.

Refer to the Ratio Kits and Ratio Options pages for selecting the correct gear set.

While these ratios can be run with either aluminum or steel gears, it is recommended to run them with steel gears since they will last longer.

X1 Ratio Upgrade

Part Number	Description	QTY
WCP-1495	WCP Swerve X Column	1
WCP-1421	WCP Swerve X Central Gear (42t/28t, Steel)	1
WCP-0432	18t Steel Spur Gear (20 DP, 3/8" Hex Bore)	1
WCP-0682	18t Aluminum Spur Gear (20 DP, 3/8" Hex Bore)	1

X2 Ratio Upgrade

Part Number	Description	QTY
WCP-1495	WCP Swerve X Column	1
WCP-1422	WCP Swerve X Central Gear (42t/30t, Steel)	1
WCP-1423	WCP Swerve X Central Gear (42t/30t, Aluminum)	1
WCP-0732	16t Steel Spur Gear (20 DP, 3/8" Hex Bore)	1
WCP-0681	16t Aluminum Spur Gear (20 DP, 3/8" Hex Bore)	1

X3 Ratio Upgrade

Part Number	Description	QTY
WCP-1495	WCP Swerve X Column	1
WCP-1459	WCP Swerve X Central Gear (42t/32t, Steel)	1
WCP-1460	WCP Swerve X Central Gear (42t/32t, Aluminum)	1
WCP-0731	14t Steel Spur Gear (20 DP, 3/8" Hex Bore)	1
WCP-0680	14t Aluminum Spur Gear (20 DP, 3/8" Hex Bore)	1

Hardware Changes

Top Plate

The new Gear Cartridge configuration has an updated top plate with #8-32 taped holes that allow for teams to directly mount the encoder on-axis. The image below highlights the location of these holes. Refer to the STEP file below for the exact location of the holes.

988KB

WCP-0361-001 Rev2.STEP

Encoder Mount

Teams can steer away from the additional machining step by using the updated encoder mount shown below. This mount allows teams to use the already tapped #10-32 holes on the top plate.

242KB

Encoder Mount.STEP