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
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
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
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.
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.
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