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

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.

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

Weight calculated using the Aluminum Wheel and Tread.

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.

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

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)

Thin (X2St)