WCP Swerve X2 swerve module, 4 in wheel

MPN WCP-Swerve-X2 · swerve

Use it

(import "parts/frc-drive/WCP-Swerve-X2.ik" as p)

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

Dimensions

floor-z-95.25
encoder-top147.837
plate-thickness6.35
lower-plate-z-0.7938
upper-plate-z50.8
upper-plate-thickness6.35
All 56 numbers in its record
envelope146.05, 146.05
floor-z-95.25
encoder-top147.837
plate-thickness6.35
lower-plate-z-0.7938
upper-plate-z50.8
upper-plate-thickness6.35
steering-axis82.55, 82.55
wheel-diameter101.6
wheel-width50.8
wheel-z-44.45
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, 6.35, 50.8, 141.2875, 50.8, 9.4996, 6.35, 50.8, 50.8, 141.2875, 9.4996, 6.35, 50.8, 130.1454, 130.1454, 9.5, 4.7625, 50.8
motor-envelopes52.8613, 52.8613, 60, 73.025, 147.837, 114.8789, 114.8789, 60, 73.025, 147.837
encoder-diameter28.6
frame-cutout0, 0, 0, 0
center52.8613, 52.8613, 73.025, 114.8789, 114.8789, 73.025
normal0, 0, -1, 0, 0, -1
bolt-circle-diameter50.8, 50.8
clock-deg-45, 135
motor-types2, 2
plate-color0.62, 0.64, 0.68
gear-color0.48, 0.5, 0.54
steering-gear-radius57.13
steering-gear-z7.9375
steering-gear-thickness5.556
gear-teeth60
column-diameter17.272
column-z017.62
rim-depth5
tread-groove-depth0.45
tread-pitch5.2
encoder-style0
spur-gears107.75, 107.75, 12.75, 10.32, 12.65, 30
belt-secondary93.025, 118.025, 11
wheel-stage-radius34.8
encoder-seat-z63.4
encoder-height7.2
encoder-xy79.94, 83.46
encoder-clock-deg0
fork-top-z1
major-diameter4.826
pitch0.79375
main-step-z0
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wheel-offset0
mount-hole-z-1.7938, 8.9375
frame-rail-band-6.35, 19.05
frame-rail-z-50.8, 0
no-motors-steel-gears3.821
steering-ratio12.1
drive-ratios7.67, 6.98, 6.39, 6.82, 6.2, 5.68, 6.48, 5.89, 5.4, 5.67, 5.15, 4.73
free-speed-ft-s-kraken-non-foc13.65, 15.01, 16.38, 15.35, 16.89, 18.42, 16.16, 17.78, 19.39, 18.47, 20.32, 22.16
free-speed-ft-s-vortex15.42, 16.96, 18.5, 17.35, 19.08, 20.82, 18.26, 20.09, 21.91, 20.87, 22.96, 25.04