SDS MK4 swerve module, 4 in wheel

MPN SDS-MK4 · swerve

Use it

(import "parts/frc-drive/SDS-MK4.ik" as p)

In a design on ink: ask your agent for it by name, or by what it must be.

Dimensions

floor-z-92.075
encoder-top116.97
plate-thickness7.9375
lower-plate-z0
upper-plate-z55.5625
upper-plate-thickness6.35
All 58 numbers in its record
envelope139.7, 139.7
floor-z-92.075
encoder-top116.97
plate-thickness7.9375
lower-plate-z0
upper-plate-z55.5625
upper-plate-thickness6.35
steering-axis76.2, 76.2
wheel-diameter101.6
wheel-width38.1
wheel-z-41.275
mount-holes57.15, 6.35, 5.1054, 82.55, 6.35, 5.1054, 107.95, 6.35, 5.1054, 133.35, 6.35, 5.1054, 6.35, 57.15, 5.1054, 6.35, 82.55, 5.1054, 6.35, 107.95, 5.1054, 6.35, 133.35, 5.1054
posts115.3184, 25.2808, 7.9375, 7.9375, 55.5625, 25.2808, 115.3184, 7.9375, 7.9375, 55.5625, 132.0311, 72.2424, 7.9375, 7.9375, 55.5625, 72.2424, 132.0311, 7.9375, 7.9375, 55.5625
motor-envelopes106.631, 49.149, 60, 61.9125, 116.97, 49.149, 106.631, 60, 61.9125, 116.97
encoder-diameter28
frame-cutout0, 0, 0, 0
center106.631, 49.149, 61.9125, 49.149, 106.631, 61.9125
normal0, 0, -1, 0, 0, -1
bolt-circle-diameter50.8, 50.8
clock-deg-135, 135
motor-types0, 0
plate-color0.57, 0.59, 0.63
gear-color0.48, 0.5, 0.54
steering-gear-radius50.8
steering-gear-z10.0288
steering-gear-thickness15
gear-teeth60
column-diameter17.272
column-z021.0066
rim-depth5
tread-groove-depth0.45
tread-pitch5.2
encoder-style0
spur-gears76.2, 76.2, 33.02, 41.4655, 12.6492, 50
belt-secondary43.916, 124.7468, 9.10074
wheel-stage-radius32.5535
encoder-seat-z61.9125
encoder-height17.494
encoder-xy76.2, 76.2
encoder-clock-deg0
fork-top-z1
major-diameter6.35
pitch1.27
main-step-z3.175
outlines0, 3.175, 50.23952, 130.7809, -0.08706867, 46.34814, 131.4638, 0.08706867, 43.91603, 131.8905, 0.2870029, 37.4923, 127.8723, -0.31693, 25.96296, 121.5118, 0.02743189, 25.28081, 121.5492, 0.4142136, 19.05, 115.3184, 19.05, 60.00759, 0.2837506, 22.24668, 54.82821, -0.15495, 27.20216, 50.0007, 0.1482597, 50.0007, 27.20216, -0.15495, 54.82821, 22.24668, 0.2837506, 60.00759, 19.05, 115.3184, 19.05, 0.6139546, 120.3469, 28.96007, -0.331581, 120.4654, 42.61777, 0.01331963, 122.1908, 45.02256, -0.15495, 127.6238, 49.30563, 0.4095686, 131.0361, 56.68371, -0.3147234, 134.4722, 69.31712, 0.4396713, 134.7355, 74.92607, -0.1717115, 131.4775, 81.82084, 0.1252671, 122.0637, 107.5641, -0.15495, 120.0699, 114.1888, 0.4186438, 114.2763, 120.0705, 0.00377553, 114.1888, 120.0699, -0.00377553, 114.0162, 120.0686, -0.151086, 107.5641, 122.0637, 0.1252671, 81.82084, 131.4775, -0.1717115, 74.92607, 134.7355, 0.197912, 72.24238, 135.8411, 0.2224064, 69.31712, 134.4722, -0.3147234, 56.68371, 131.0361, 0.08627788, 54.72816, 131.3761, 0.0660065, 53.21818, 131.1759, -0.0660065, 3.175, 7.9375, 0, 133.35, 0, 57.15, 0.1989124, 1.85987, 52.65987, 52.65987, 1.85987, 0.1989124, 57.15, 0, 133.35, 0, 0.4142136, 139.7, 6.35, 139.7, 76.2, 0.4142136, 76.2, 139.7, 6.35, 139.7, 0.4142136, 53.2925, 55.5625, 76.2, 90.486, 1, 76.2, 61.914, 1, 55.5625, 61.9125, 27.9556, 85.4377, 85.4377, 27.9556, 0.6681786, 136.6031, 49.149, 136.6031, 72.24238, 0.1989124, 135.264, 75.47528, 75.47528, 135.264, 0.1989124, 72.24238, 136.6031, 49.149, 136.6031, 0.6681786
holes25.2808, 115.3184, 8.128, -1, 4.826, 115.3184, 25.2808, 8.128, -1, 4.826, 76.2, 76.2, 101.6, -1, 6.35, 24.8443, 60.0076, 4.4958, -1, 8.9375, 54.7282, 125.5819, 4.4958, -1, 8.9375, 60.0076, 24.8443, 4.4958, -1, 8.9375, 72.2424, 132.0311, 4.4958, -1, 8.9375, 114.2763, 114.2763, 4.4958, -1, 8.9375, 125.5819, 54.7282, 4.4958, -1, 8.9375, 132.0311, 72.2424, 4.4958, -1, 8.9375, 25.2808, 115.3184, 5.1054, -1, 8.9375, 115.3184, 25.2808, 5.1054, -1, 8.9375, 76.2, 76.2, 95.25, -1, 8.9375, 43.916, 124.7468, 10.668, 1.27, 8.9375, 43.916, 124.7468, 12.7, 3.175, 8.9375, 76.2, 76.2, 24, 52.2925, 58.2925, 73.0172, 97.9438, 8.128, 52.2925, 58.7375, 97.9438, 73.0172, 8.128, 52.2925, 58.7375, 106.6311, 49.149, 21.59, 52.2925, 58.7375, 106.6311, 49.149, 19.8252, 52.2925, 58.8005, 76.2, 76.2, 21.968, 52.2925, 58.8005, 43.916, 124.7468, 17, 52.2925, 60.0075, 68.9485, 77.8741, 1.9939, 52.2925, 62.9125, 83.4515, 74.5259, 1.9939, 52.2925, 62.9125, 25.2808, 115.3184, 5.1054, 52.2925, 62.9125, 72.2424, 132.0311, 5.1054, 52.2925, 62.9125, 73.0172, 97.9438, 5.1054, 52.2925, 62.9125, 97.9438, 73.0172, 5.1054, 52.2925, 62.9125, 115.3184, 25.2808, 5.1054, 52.2925, 62.9125, 132.0311, 72.2424, 5.1054, 52.2925, 62.9125, 76.2, 76.2, 10.795, 52.2925, 62.9125, 43.916, 124.7468, 12.7, 52.2925, 62.9125, 49.149, 106.6311, 18.288, 52.2925, 62.9125, 106.6311, 49.149, 19.1262, 52.2925, 62.9125, 49.149, 106.6311, 19.1262, 57.4675, 62.9125
cuts52.2925, 62.9125, 61.54475, 99.8884, 0.2278235, 59.0656, 98.69694, -0.3525193, 43.51463, 95.24937, 0.1154257, 42.10604, 95.57894, 0.1989124, 39.86097, 94.649, 34.24177, 89.02981, 0.4142136, 34.24177, 84.53968, 55.79862, 62.98283, 0.1989124, 58.04369, 62.05289, 0.1989124, 60.28875, 62.98283, 63.04025, 65.73433, 0.3301672, 63.59631, 69.47418, -0.3958849, 68.69425, 88.35539, 0.5056004, 69.10997, 93.45232, -0.1546464, 67.2363, 96.5222, 0.2501828, 65.23906, 98.74754, 62.63067, 99.69692, 0.08748866, 52.2925, 62.9125, 86.78474, 33.31184, 0.1989124, 89.02981, 34.24177, 94.649, 39.86097, 0.3217248, 95.24937, 43.51463, -0.3525193, 98.69694, 59.0656, 0.3217248, 99.69692, 62.63067, 98.74754, 65.23906, 0.2501828, 96.5222, 67.2363, -0.1546464, 93.45232, 69.10997, 0.2170271, 91.05687, 70.20113, 0.2600395, 88.35539, 68.69425, -0.2600395, 76.2, 61.914, -0.123166, 69.47418, 63.59631, 0.123166, 67.97939, 63.97019, 0.1989124, 65.73433, 63.04025, 62.98283, 60.28875, 0.4142136, 62.98283, 55.79862, 84.53968, 34.24177, 0.1989124, 52.2925, 62.9125, 106.3348, 61.84554, -0.00583416, 106.6311, 61.849, -0.1274836, 112.7999, 60.25018, 0.3217248, 116.4779, 60.67628, 126.422, 69.71728, 0.2172327, 127.4603, 72.13857, -0.1234621, 127.9521, 74.30749, 0.3242051, 127.3645, 77.98665, 110.0097, 95.3414, 0.5894732, 104.6701, 93.80663, 101.4971, 79.98276, 0.2501828, 102.2794, 77.09672, -0.3612137, 102.7487, 69.50255, 0.2501828, 102.3278, 66.54216, 103.2772, 63.93376, 0.3217248, 52.2925, 62.9125, 75.74159, 128.2944, 0.1177023, 74.30749, 127.9521, -0.1234621, 72.13857, 127.4603, 0.00567733, 72.06647, 127.4611, 0.2112948, 69.71728, 126.422, 60.67628, 116.4779, 0.3217248, 60.25018, 112.7999, -0.133417, 61.84554, 106.3348, 0.3217248, 63.93376, 103.2772, 66.54216, 102.3278, 0.2501828, 69.50255, 102.7487, -0.1592094, 73.01719, 103.8969, -0.1910191, 77.09672, 102.2794, 0.2501828, 79.98276, 101.4971, 93.80663, 104.6701, 0.5894732, 95.3414, 110.0097, 77.98665, 127.3645, 0.1989124, 52.2925, 62.9125, 129.6181, 66.35776, 0.1865883, 127.4822, 65.53195, 119.041, 57.85725, 0.3217248, 118.2677, 54.23624, -0.3392153, 114.5653, 39.2324, 0.3217248, 113.5653, 35.66733, 115.0226, 31.66352, 0.2226479, 116.931, 29.76198, -0.1039265, 118.5982, 28.73398, 0.3715455, 122.7396, 28.53432, 0.2308477, 132.7931, 49.149, 132.7931, 63.18276, 0.4142136, 52.2925, 62.9125, 79.90695, 89.99668, -0.2675818, 89.99668, 79.90695, 0.5056004, 94.76062, 78.04781, -0.04993859, 95.82121, 78.57906, 0.2501828, 97.7837, 80.8351, 101.6993, 97.89452, 0.5534784, 97.89452, 101.6993, 80.8351, 97.7837, 0.2501828, 78.57906, 95.82121, -0.04993859, 78.04781, 94.76062, 0.5056004, 52.2925, 62.9125, 32.52441, 118.784, 0.4519463, 30.0049, 115.922, -0.4183423, 25.81789, 110.5863, 0.3715455, 23.00287, 107.5421, 0.1504686, 27.01882, 92.67742, 0.4810926, 31.94958, 92.12577, 37.1669, 97.34308, 0.3217248, 37.76727, 100.9967, -0.2240005, 37.56202, 111.8303, 0.342546, 36.64313, 115.6138, -0.06436251, 34.55992, 117.7633, 0.2366762, 52.2925, 62.9125, 107.0015, 36.45332, 0.00583416, 106.9274, 36.45246, -0.1213416, 100.9967, 37.76727, 0.1154257, 99.58815, 38.09683, 0.1989124, 97.34308, 37.1669, 92.12577, 31.94958, 0.4810926, 92.67742, 27.01882, 0.1504686, 107.5421, 23.00287, 0.3715455, 110.5863, 25.81789, -0.1039265, 111.2027, 27.67703, 0.2226479, 111.4423, 30.36042, 109.9851, 34.36424, 0.3152988, 52.2925, 62.9125, 63.18276, 132.7931, 57.94431, 132.7931, 0.5158603, 54.945, 128.5766, -0.1148685, 55.50248, 123.3115, 0.7317865, 59.90257, 121.2906, 65.53195, 127.4822, 0.6511257
mount-hole-z-1, 8.9375
wheel-offset0
frame-rail-band-6.35, 19.05
frame-rail-z-47.625, 3.175
steering-ratio12.8
l18.14
l26.75
l36.12
l45.14
neo-complete4.9
falcon-complete5.2