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 modules, and truly makes omnidirectional driving as simple as plug and play.
All Ratio Kits are sold with steel gears. However, they can be swapped out with aluminum gears to further reduce the weight of each module.
All weights for configurations were calculated without any motors.
Standard
3.29 lbs
2.90 lbs
Flipped
3.79 lbs
3.24 lbs
Corner Mount module weights do not include the weight for either the Top Support Plate or the Bottom Support Plate.
Standard
3.29 lbs
2.90 lbs
Flipped
3.79 lbs
3.24 lbs
All configurations of the module use the same shafts. What this means is users can swap between every configuration and mounting style by simply using different plates.
Less hardware required for assembly.
Easy to install encoder locations
Modules accept multiple motors: Kraken X60 - 775pro - 550 motors.
The bottom mounting plates are made of 7075-T6 to help with bending.
Wheel height is the same regardless of configuration, so it is possible to mix and match modules on the robot.
New optional aluminum bevel gear is available to shave off weight.
Alignment holes to zero module.
Clearance holes so motors can be removed without disassembling gearbox.
Smaller and lighter 3” ID X-contact bearing.
Gears Below configuration give much greater protection to the drive and rotation first stage gears and motor shafts.
Depending on the location that the module is mounted, one of two sets of tapped holes in the 72T Main Rotation Gear will align with a set of holes in the Swerve X Top Plate. These sets of holes align the wheel to the module so that a zero can be set in code.
To align the wheel, determine the correct set of hole to use for the desired direction. Manually align the wheel and then use a #10-32 x 2.25”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. Once the position is calibrated, remove the bolts.
For the Belt & Gears Above configurations all steps are the same, except for the bolts used. Substitute #10-32 x 1.75”L bolts for the 2.25”L bolts. The Gears Below configurations use the 2.25"L bolts.