FRC Build System

Step 10-14

Vibra-TITE VC-3 Threadmate (Vibra-TITE) is recommended on all bolts that thread into a tapped hole.

Step 10

Bolt together the assemblies from steps 8 and 9 as shown in the images below. For all configurations, the bolt locations are marked in green in the image below.

The table below indicates what length bolt and spacer is required in each position for each configurations colored markers.

Configuration
Green Bolt
Green Spacer

Belt

2"

1-3/8"

Step 11

When Installing the belts, the 53T HTD 5mm Belt goes with the motor farthest from the Sensor Shaft and the 43T HTD 5mm Belt goes with the motor closest to the Sensor Shaft.

For more information regarding belt installation, see Planning Ahead.

Step 12

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.

While the image below may show the Non-Flipped configuration, this step is the same for all Swerve X configurations.

Step 13

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

Be sure to align the bolt holes in the Aluminum Swerve Wheel with the tapped holes in the 45T Bevel Gear.

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

The locations of the bolts are marked out in green in the image below.

The 1/2" ID x 1 1/8" OD Radial Bearing that is pressed directly into the wheel and not the bevel gear must sit .034" deeper than flush. If the bearing is not pressed all the way into the wheel, the bevel gears will not mesh properly.

The 1/2" ID x 1 1/8" OD Radial Bearing will come pressed into the wheel.

Step 14

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

It is easier to install the tread on the wheel before installing the wheel in the module.

While the image below may show the Non-Flipped configuration, this step is the same for all Swerve X configurations.

Corner Mounting

For more instructions regarding mounting the Corner Mount modules, see the Corner Mounting section.

PreviousStep 6-9

Last updated