WCP Swerve X swerve module, 4 in wheel

MPN WCP-Swerve-X · swerve

Use it

(import "parts/frc-drive/WCP-Swerve-X.ik" as p)

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

Dimensions

floor-z-98.456
encoder-top146.249
plate-thickness4.7625
lower-plate-z-1.6188
upper-plate-z52.3875
upper-plate-thickness6.35
All 56 numbers in its record
envelope133.35, 133.35
floor-z-98.456
encoder-top146.249
plate-thickness4.7625
lower-plate-z-1.6188
upper-plate-z52.3875
upper-plate-thickness6.35
steering-axis79.375, 79.375
wheel-diameter101.6
wheel-width38.1
wheel-z-47.656
mount-holes57.15, 6.35, 4.0386, 69.85, 6.35, 4.0386, 82.55, 6.35, 4.0386, 95.25, 6.35, 4.0386, 107.95, 6.35, 4.0386, 6.35, 57.15, 4.0386, 6.35, 69.85, 4.0386, 6.35, 82.55, 4.0386, 6.35, 95.25, 4.0386, 6.35, 107.95, 4.0386
posts31.75, 31.75, 9.4996, 4.7625, 52.3875, 128.5875, 59.6389, 9.4996, 4.7625, 52.3875, 59.6389, 128.5875, 9.4996, 4.7625, 52.3875
motor-envelopes58.6665, 58.6665, 60, 71.4375, 146.249, 102.7237, 102.7237, 60, 71.4375, 146.249
encoder-diameter35
frame-cutout0, 0, 0, 0
center58.6665, 58.6665, 71.4375, 102.7237, 102.7237, 71.4375
normal0, 0, -1, 0, 0, -1
bolt-circle-diameter50.8, 50.8
clock-deg45, 45
motor-types2, 2
plate-color0.62, 0.64, 0.68
gear-color0.48, 0.5, 0.54
steering-gear-radius46.99
steering-gear-z7.1125
steering-gear-thickness5.556
gear-teeth60
column-diameter17.272
column-z06.32
rim-depth5
tread-groove-depth0.45
tread-pitch5.2
encoder-style0
spur-gears118.044, 118.044, 16.5, 38.15, 12.65, 30, 50.089, 79.375, 15.2, 14.26, 12.65, 30
belt-secondary86.675, 111.675, 11
wheel-stage-radius34.8
encoder-seat-z58.7375
encoder-height8.1
encoder-xy115.94, 41.75
encoder-clock-deg0
fork-top-z1
major-diameter4.826
pitch0.79375
main-step-z0
mount-hole-z-2.6188, 7.3813
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wheel-offset-2.3061
frame-rail-band-6.35, 19.05
frame-rail-z-50.8, 0
no-motors-steel-gears3.29
steering-ratio11.31429
drive-ratios7.85, 7.13, 6.54, 6.56, 5.96, 5.46, 5.14, 4.75, 4.41
free-speed-ft-s-kraken-non-foc13.35, 14.68, 16.02, 15.97, 17.57, 19.16, 20.36, 22.06, 23.76
free-speed-ft-s-vortex15.08, 16.59, 18.1, 18.05, 19.85, 21.66, 23.01, 24.93, 26.84