Step 10-13

Last updated 1 year ago

Step 10

The magnet will come installed in the Sensor 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 Sensor Pulley, and then sliding it onto the 3D Printed Rotation Pulley installed in Step 8.

For the Belt and Gears Above configurations, the excess 1/4” shoulder on the Sensor Shaft that extends past the Swerve X Bottom Plate can be cut off. However, doing so will prevent the Sensor Shaft from being reused in all other configurations.

Step 11

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 and orange in the images below.

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

For all bolt locations marked in orange, the bolt must be spaced away from the bottom plate with a 1/8"L Spacer. This is to keep the end of the bolt from colliding with the drive idler gear in the Gears Above and Gears Below configurations.

Configuration

Green Bolt

Green Spacer

Orange Bolt

Orange Spacer

Gears Above

1-3/8"

Step 13

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 10-13

Step 10-13

Step 10

Step 11

Step 12

Step 13

Step 10

Step 11

Step 12

Step 13