Hardware¶
Having a good swerve starts with having good hardware. Here is a summary of potential swerve hardware you might use.
Modules:¶
Swerve Drive Specialties:¶
-
Cost (not including motors): $300-310 USD
Weight (with motors): 2.2 kg (Neo), 2.4 kg (Falcon)
Notable Features: Very robust and used widely among FRC teams
-
Cost (not including motors): $365 USD
Weight (including motors): 2.7 kg (Neo), 2.9 kg (Falcon)
Notable Features: Compact, robust, and popular among FRC teams
MK4 Swerve Module¶ |
MK4i Swerve Module¶ |
West Coast Products:¶
-
Cost (not including motors): $305-325 USD
Weight (not including motors): 1.2-1.6 kg (depends on the model)
Notable Features: Very configurable, many different options to choose from
Possible Swerve X Configuration¶
REV Robotics:¶
-
Cost (not including motors): $300 USD
Weight (including motors): 1.7 kg (Neo), 1.8 kg (Falcon)
Notable Features: Incredibly small and lightweight
MAXSwerve Module¶
Homemade Swerve:¶
Your Imagination
Cost: time and money
Weight: n/a
Notable Features: You can customize it any way you want
Sensor Customization¶
Rotor Encoder¶
FRC teams often use the CTRE CANCoder for measuring the angle of the rotor. It is a great sensor but it can be a bit expensive. Thus, teams with a tighter budget can consider using the Thrifty Absolute Magnetic Encoder. This encoder uses the same mount as normal CANCoders, but comes at a much cheaper price.
CANCoder¶ |
Thrifty Absolute Magnetic Encoder¶ |
