# Drivetrain

{% hint style="success" %}
Vibra-TITE VC-3 Threadmate ([Vibra-TITE](https://wcproducts.com/products/threadlocker)) is recommended on all bolts that thread into a tapped hole.
{% endhint %}

## Step 1

Refer back to the <a href="/spaces/v3U1blZmAL1arpmYDPqt/pages/oWozf3l1glOmHPlTG0zl" class="button primary" data-icon="book-open">Swerve X2 Manual</a> to build the two Right and two Left configurations of the Tube Mount X2c modules.&#x20;

{% hint style="warning" %}
Ensure that two Left-Hand and two Right-Hand modules are assembled
{% endhint %}

<div><figure><img src="/files/DaVGnARCqETdqjBl3ZMi" alt=""><figcaption><p>Swerve X2c - Right, Tube Mount</p></figcaption></figure> <figure><img src="/files/qk4dsfaY9PKRGmXpTa79" alt=""><figcaption><p>Swerve X2c - Left, Tube Mount</p></figcaption></figure></div>

## Step 2

Install Tube Plugs into all of the Drivetrain tubing as shown below using #10-32 x 3/8"L Bolts.

{% tabs %}
{% tab title="25.5"L Drive Rail" %}
Install a 2" x 1" Tube Plug into each end of the 25.5"L Drive Rails using #10-32 x 3/8"L bolts as shown below. Additional bolts will be added in later assembly steps.

{% hint style="success" %}
The highlighted holes on the Tube Plug must be drilled out to 0.201".&#x20;

Drilling these holes allows the frame to be bolted together without threading a bolt through multiple Tube Plugs, removing the risk of cross-threading.
{% endhint %}

<figure><img src="/files/ZqqfD1maUo2tT076X4qF" alt=""><figcaption></figcaption></figure>
{% endtab %}

{% tab title="25"L Drive Rail" %}
Install a 2" x 1" Tube Plug into each end of the 2"L Drive Rails using #10-32 x 3/8"L bolts as shown below. Additional bolts will be added in later assembly steps.

<figure><img src="/files/vqbVsPsKg2M1ltmv4kFG" alt=""><figcaption></figcaption></figure>
{% endtab %}

{% tab title="16.5"L Crossbar Supports" %}
Install a 1" x 1" Tube Plug into each end of the 16.5"L 1" x 1" Crossbar Support Rails using one #10-32 x 3/8"L bolt as shown below. Additional bolts will be added in later assembly steps.

<figure><img src="/files/VDwhGrqm91RW0Vattxty" alt=""><figcaption></figcaption></figure>
{% endtab %}

{% tab title="23.5"L Crossbar Supports" %}
Install a 1" x 1" Tube Plug into each end of the 23.5"L 1" x 1" Crossbar Support Rails using one #10-32 x 3/8"L bolt as shown below. Additional bolts will be added in later assembly steps.

<figure><img src="/files/0WspsvAWySqi6MKhIc8j" alt=""><figcaption></figcaption></figure>
{% endtab %}
{% endtabs %}

## Step 3

Bolt together the Crossbar Support Tubes from Step 2 using #10-32 x 1-1/4"L bolts as shown below.&#x20;

<figure><img src="/files/2SDpVIDUb39Fn5H09Drq" alt=""><figcaption></figcaption></figure>

## Step 4

Bolt together the Drivetrain tubes from Step 2 to the assembly from Step 3 using #10-32 x 1-1/4"L bolts as shown below.&#x20;

{% hint style="warning" %}
If the 2" x 1" Tube Plug holes on the 25.5"L drivetrain rails were not drilled out in Step 2, return to that step and drill out the selected holes before bolting the frame together.
{% endhint %}

<figure><img src="/files/UwTw7ys1kj8kkFwYVKXu" alt=""><figcaption></figcaption></figure>

## Step 5&#x20;

Install the modified 90 Degree Corner gussets using #10-32 x 3/8"L bolts as shown below.

<figure><img src="/files/r0L3GNUfdmktdktNa1jL" alt=""><figcaption></figcaption></figure>

## Step 6

Bolt the Belly Pan to the Bottom of the assembled Drivetrain&#x20;

Rivet the Belly Pan to the Bottom of the assembled Drivetrain from Step 3 using .250" - .438" Grip Length, 3/16" Rivets ([WCP-0450](https://wcproducts.com/products/rivets))

<figure><img src="/files/lAr4DuYfoOiqkNXSRjHo" alt=""><figcaption></figcaption></figure>

## Step 7

Use this step to mount your desired electronics.

{% hint style="warning" %}
The images below can be used ***ONLY IF THE SAME ELECTRONICS*** are used.
{% endhint %}

{% tabs %}
{% tab title="Pigeon 2.0" %}
Mount the Pigeon 2.0 to the Pigeon Mounting Plate using #4-40 x 1/2"L bolts. ([McMaster P/N 91251A110](https://www.mcmaster.com/91251A110/))

{% hint style="info" %}
Teams can choose to not tap the Pigeon Mounting plate and rather drill the holes to 1/8". If this is done a #4-40 x 3/4"L bolt ([McMaster P/N 91251A113](https://www.mcmaster.com/91251A113/)) and #4-40 Nut ([McMaster P/N 90631A005](https://www.mcmaster.com/90631A005/)) can be used to mount the Pigeon.
{% endhint %}

<figure><img src="/files/Npq15xiSX4Jy4fkPKHKn" alt=""><figcaption></figcaption></figure>
{% endtab %}

{% tab title="PDP 2.0" %}
Mount the PDP 2.0 to the Belly Pan using #10-32 x 2-1/4"L bolts and 1-1/2"L Spacers as shown below.

<figure><img src="/files/KD8K9SEwTOpQ4qG1EwmX" alt=""><figcaption></figcaption></figure>
{% endtab %}

{% tab title="VRM" %}
Mount the VRM using #6-32 x 1/2"L bolts ([McMaster P/N 91251A148](https://www.mcmaster.com/91251A148/)).

<figure><img src="/files/gu3MTSMtRjht3ZZ0D6G1" alt=""><figcaption></figcaption></figure>
{% endtab %}

{% tab title="CANivore" %}
Bolt the CANivore to the Printed CANivore mount using #4-40 x 5/8"L bolts as shown below.

<figure><img src="/files/VdsthkkVqE8n3CPmD7Id" alt=""><figcaption></figcaption></figure>

Once this is done, mount the CANivore to the roboRIO using #4-40 x 3/8"L bolts (McMaster P/N) as shown below.

<figure><img src="/files/P74VhdacIOhDFtafdVL8" alt=""><figcaption></figcaption></figure>
{% endtab %}

{% tab title="roboRIO 2.0" %}
Use large zipties ([WCP-0437](https://wcproducts.com/products/zipties)) to mount the roboRIO to the Belly Pan.

<figure><img src="/files/iQ5VBnkRCWx3L5I0zwgG" alt=""><figcaption></figcaption></figure>
{% endtab %}
{% endtabs %}

## Step 8

Mount the Horizontal Battery Box to the Drivetrain using #10-32 x 3/8"L bolts and .125" - .250" Grip Length, 3/16" Rivets ([WCP-0449](https://wcproducts.com/products/rivets)) as shown below.

{% hint style="info" %}
The Main Breaker can be mounted ANYWHERE&#x20;
{% endhint %}

<figure><img src="/files/FzrNvL8g9TGujCCoBXks" alt=""><figcaption></figcaption></figure>

## Step 9

Mount the assembled Swerve X2c modules from Step 1 using the #10-32 x 2-1/2"L bolts from the Swerve Base Kits.

<figure><img src="/files/spr1UzD8FEkMkS7pdKpX" alt=""><figcaption></figcaption></figure>

## Step 10

Install the WCP Cone Bumper Mounts.


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