# Swerve ## Swerve X2 Product Page Manual 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 more versatile than our previous modules, and truly makes omnidirectional driving as simple as plug and play. * Supports 4" OD x 2" wide wheels * 3 variants available: Standard, Inverted, and Thin * Corner and Tube Mount versions available for each option * On axis encoder mounting * Aluminum and Steel gears available for all gears * Single bolt removal for wheel swap * Motors easily replaced without module disassembly * Accepts common motors * Less parts than previous versions * No belts in any of the modules #### Standard

#### Inverted

#### Thin

#### Compact

### Weight Comparison {% hint style="info" %} All weights for configurations were calculated without any motors. Corner Mount module weights do not include the weight for either the Top Support Plate or the Bottom Support Plate. {% endhint %} #### Tube Mount | Configuration | Steel Gears | Aluminum Gears | | ------------- | ----------- | -------------- | | Standard | 3.821 lbs | 3.254 lbs | | Inverted | 4.146 lbs | 3.378 lbs | | Thin | 4.321 lbs | 3.524 lbs | | Compact | 4.030 lbs | 3.276 lbs | {% hint style="info" %} Weight calculated using the Aluminum Wheel and Tread. {% endhint %} #### Corner Mount | Configuration | Steel Gears | Aluminum Gears | | ------------- | ----------- | -------------- | | Standard | 3.841 lbs | 3.274 lbs | | Inverted | 4.166 lbs | 3.398 lbs | | Thin | 4.341 lbs | 3.544 lbs | | Compact | 4.050 lbs | 3.296 lbs | ### Drive Ratios The X gear ratios are designed to be a consistent spread across all Swerve X2 configs. **All X Gear Ratios come with 3 pinions on the same pitch to get the spread.** {% hint style="info" %} The Rotation Ratio is the same throughout all motor configurations using the 10t pinions, which is compatible with all motors. The overall rotation gear ratio will be **12.1:1** {% endhint %}

### Accessories Readily available accessories to elevate your Swerve X2 module build. **Mounting Hardware** * WCP Swerve X (Bottom Support Plate) * WCP Swerve X (Top Support Plate)

**Wheel Components** * Swerve X2 Aluminum Wheel * Swerve X2 Colson Wheel * Swerve X2 Molded Wheel

#### Tread * 4" OD x 2" WD Punched Tread * 4" OD x 2" WD Molded Tread (High-Grip)

## FIM Swerve X2i Product Page Video Guide Swerve Generator The FIRST in Michigan (FIM) Swerve X2i Bundle brings together top-of-the-line components from **WCP** and **CTR Electronics**, providing everything you need to build a powerful, reliable swerve drive system. This kit is specifically designed to complement the FIM Swerve Video Guide, making it easier than ever to get your robot up and running. **What’s Inside the Kit?** * **WCP Components:** * Swerve X2i: Designed from the ground up to provide performance, reliability, and easier maintenance. * Pre-punched tubing: Provides easy upgrade paths with multiple mounting options, making it adaptable to a variety of setups. * Wire: Flexible electrical wire is perfect for wiring robots cleanly and effectively. Use it with motor controllers or other key power transfer connections.

* **CTR Electronics Components:** * CANcoders: Trusted sensors for accurate rotation sensing and feedback. * Pigeon 2.0: A positioning control system that ensures your robot stays on course, even during complex maneuvers

## Swerve X2S Product Page Manual WCP’s newest generation of the compact swerve drive module, designed from the ground up to utilize the powerful Kraken X60 brushless motor for drive, and the compact Kraken X44 brushless motor for steering. This new design is more versatile than our previous compact module, and strikes an ideal balance between performance, size, weight, and cost. * Less hardware required for assembly. * Module accept multiple motors: Kraken X60 - Kraken X44 - NEO - Vortex. * 2 variants available: Standard and Thin * Wide drive base footprint. * Optimizes the robot's layout for efficient drivetrain component layouts. * Lightweight and compact design. * On axis encoder mounting with the new WCP ThroughBore Powered by CANcoder #### Standard (X2S)

Standard (X2S, Right-Hand, Through Bore Encoder)

#### Thin (X2St)

### Weight Comparison {% hint style="info" %} All weights for configurations are calculated without any motors, and using the molded hub pair and molded high-grip wheel. {% endhint %}

Configuration	w/o Encoder	w/Spartan Mag or CANcoder	w/ WCP ThroughBore
Standard (X2S)	2.98 lbs	3.15 lbs	3.09 lbs
Thin (X2St)	3.64 lbs	3.82 lbs	3.76 lbs

### Drive Ratios

### Accessories Readily available accessories to elevate your Swerve X2S module build. **Wheel Components**

## Swerve X Product Page Manual The newest generation of our 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 module, and truly makes omnidirectional driving as simple as plug and play. * Modules accept multiple motors: Kraken X60 - 775pro - 550 motors. * Natively supports CAN and Mag Encoder * Alignment holes to zero module. * Clearance holes so motors can be removed without disassembling gearbox. * Easy to install encoder locations * Flipped and Non Flipped option * Wheel height is the same regardless of configuration, so it is possible to mix and match modules on robot. #### Tube Mount

#### Corner Mount

### Weight Comparison {% hint style="info" %} All weights for configurations were calculated without any motors. Corner Mount module weights do not include the weight for either the Top Support Plate or the Bottom Support Plate. {% endhint %} #### Tube Mount | Configuration | Steel Gears | Aluminum Gears | | ------------- | ----------- | -------------- | | Standard | 3.29 lbs | 2.90 lbs | | Flipped | 3.79 lbs | 3.24 lbs | #### Corner Mount | Configuration | Steel Gears | Aluminum Gears | | ------------- | ----------- | -------------- | | Standard | 3.29 lbs | 2.90 lbs | | Flipped | 3.79 lbs | 3.24 lbs | ### Drive Ratios The X gear ratios are designed to be a consistent spread across all Swerve X configs. **All X Gear Ratios come with 3 pinions on the same pitch to get the spread.** #### Swerve X Gear Ratios (Standard) {% hint style="info" %} The Rotation Ratio is the same throughout all motor configurations using the 10t pinions, which is compatible with all motors. The overall rotation gear ratio will be **396/35:1** or **11.3142:1** {% endhint %}

#### Swerve X Gear Ratios (Flipped, Gears Below) {% hint style="info" %} The Rotation Ratio is the same throughout all motor configurations using the 10t pinions, which is compatible with all motors. The overall rotation gear ratio will be **468/35:1** or **13.3714:1** {% endhint %}

### Accessories Readily available accessories to elevate your Swerve X module build. **Mounting Hardware** * WCP Swerve X (Bottom Support Plate) * WCP Swerve X (Top Support Plate)

**Wheel Components** * Swerve X Colson Wheel Hub * Swerve X Colson Wheel * 4" OD x 1.5" WD Punched Tread

## Swerve XS Product Page Manual 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 module, and truly makes omnidirectional driving as simple as plug and play. * Less hardware required for assembly. * Module accept multiple motors: Kraken X60 - 775pro - 550 motors. * Smaller and lighter 2.5” ID X-contact bearing. * Wide drive base footprint. * Optimizes the robot's layout for efficient drivetrain component layouts. * Lightweight and compact design. * Alignment holes to zero module.

### Weight Comparison {% hint style="info" %} All weights for configurations were calculated without any motors. {% endhint %} | Steel Gears | Aluminum Gears | | ----------- | -------------- | | 2.88 lbs | 2.81 lbs | ### Drive Ratios The X gear ratios are designed to be a consistent spread across all Swerve XS configs. **All X Gear Ratios come with 3 pinions on the same pitch to get the spread.** {% hint style="info" %} The Rotation Ratio is the same throughout all motor configurations using the 8t pinions, which is compatible with 550/775 motors. The overall rotation gear ratio will be **165/4:1** or **41.2500:1** {% endhint %} {% hint style="info" %} The X1 Ratio Set is on a 14t Center Distance and the X2 Ratio Set is on a 16t Center Distance. {% endhint %}

### Accessories Readily available accessories to complete your Swerve XS module build. * 3" OD x 1" WD Punched Tread

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