WCP Swerve X2i swerve module (WCP-1702), 4 in wheel, inverted motors

MPN WCP-1702 · swerve

Use it

(import "parts/frc-drive/WCP-Swerve-X2i.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-top72.71
plate-thickness6.35
lower-plate-z-0.7938
upper-plate-z50.8
upper-plate-thickness6.35
All 56 numbers in its record
envelope201.6125, 201.6125
floor-z-95.25
encoder-top72.71
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
posts130.1454, 130.1454, 9.4996, 4.7625, 50.8, 31.75, 31.75, 9.4996, 6.35, 50.8, 141.2875, 50.8, 9.4996, 6.35, 31.75, 50.8, 141.2875, 9.4996, 6.35, 31.75, 160.5617, 123.0093, 9.4996, 38.1, 50.8, 123.0093, 160.5617, 9.4996, 38.1, 50.8, 50.8, 141.2875, 9.4996, 38.1, 50.8, 141.2875, 50.8, 9.4996, 38.1, 50.8
motor-envelopes76.2, 171.45, 60, -43.06, 31.75, 171.45, 76.2, 60, -43.06, 31.75
encoder-diameter28.6
frame-cutout0, 0, 0, 0
center76.2, 171.45, 31.75, 171.45, 76.2, 31.75
normal0, 0, 1, 0, 0, 1
bolt-circle-diameter50.8, 50.8
clock-deg135, 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
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