We are absolutely stoked to reveal our next generation of swerve modules. The team has been designing swerve modules since 2014 and has learned quite a few lessons over the years. This new series of modules take years of feedback from customers. Our goal was to create a highly integrated module by designing from the ground up and evaluating every facet of the modules.
Features that are the same across all modules.
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Tube/Corner Mount → All modules regardless of style (X2, X2i, X2t) are able to be tube or corner mounted. The modules also sit at the same height regardless of configuration and sit flush with the 2” tube height. This also allows teams to mix and match and run 3 different types of modules and 2 different mounting options
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Thicker Mounting Plate → The corner mount bottom plate has changed from 3/16 thick to ¼” thick. This allows for greater bending force for this module and the plate is still 7075 aluminum.
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Clear Upgrade Path → Teams can now go from X2 → X2i → X2t and go back full circle! Now there is an easy way to change between the various WCP modules. The ratios between all 3 configurations stay the same to help minimize impact on code and provide a seamless transition between all three variants.
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Improved Wheel & Fork → Changing out wheels is now way easier! Forks have built in spacers so no need for snap rings to hold the wheel assembly together. Forks also have tapped holes on the side to allow for the mounting of guards. They are made of 7075 aluminum and contour around the inside of the x contact steering bearing for a very rigid setup.
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Double Double Gears → We have taken it one step further and added another double gear in our system. Both the steering and drive gear set is combined into one piece. The steering gear rides on a spacer that acts as both the bearing surface for the gear and a standoff for the module.
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Gear Material & Component Integration → Gears come in both 7075-T6 aluminum and 4140 steel. Where possible we built in the shafts into the gears which reduces backlash and components. Speaking of reducing components, the X2 line has 20% less components than the Swerve X line.
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Wheel Choices → This module supports 4 types of wheels which 3 will be available this year. All wheels are 4” x 2” which is 33% more tread width than before.
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Aluminum + Tread : This is the classic tried and true wheel configuration
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Molded High Grip: Two piece plastic hub combined with a molded high grip wheel that features a V shaped taper to lock this in. No more bolts to come loose and easy to do tread swaps. Shout out to FRC88 for starting the trend. These are expected to be available mid to late November.
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Molded Smooth : Similar to the high grip wheel it has the same keying and locking pattern but smooth instead of spiked outer surface. This can be used with the same hub as the high grip wheel (available Late Q1 2025). These are great for demo’s or areas where you don’t need the extra grip!
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Colson Wheel : Another tried and true favorite coming in 2” wide.
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6 ratios → Every module comes with 6 ways to tune the ratio (X1/X2 or X3/X4), the previous module offered 3 ratios. Teams can fine tune their module speed by adjusting the pinions (10/11/12) or the gear meshing with the drive double gear (14/16 or 16/18). All ratios can be swapped out without taking apart the entire module. All ratio options are compatible with all module configurations (X2, X2i, X2t), making mixing and matching modules that much easier!
X2 Variation
- Allows the drive motor to sit into 3 unique locations. This allows for various scenarios such as “flat” or “V shaped” object funneling in the front of the robot or avoiding a support tube in the back of the robot. Motors are bolted to an adapter that pilots to the mounting plate and allows for removal from the top. This makes it way easier to replace or move motors without having to disassemble the swerve, while also removing the failure mode of the motor mounting bolts falling into the module.
X2i/X2t Variation
- Flipped and Thin motor configuration supports Kraken X60 and future smaller brushless motors.
- Modules support a “keyed” ½” hex shaft for a ½” hex throughbore solution for position sensing of the module. This in combination with our new throughbore should allow for very little offset adjustment!
- The X2i modules are symmetrical, so there is no left or right hand configuration. The X2t modules feature flippable plates, meaning the left and right hand configurations can be made from the exact same parts!
Website
- We have improved our ordering process to include a few different methods.
- Suggested Kits → First time buyers, this is the default option for first time buyers to get going.
- Complete Kits → Customize your module for various motors and tube or corner mount. This is for more teams knowing exactly what they want.
- Conversion Kits → Want to swap from the current module to any of the others? This preselects items you need to do this.
- Individual Components → Every single part broken out for individual order.
Software
- The new X2 line is compatible with CTR Electronics Swerve Generator inside of Tuner X
- Modules will plug and play with this software as long as other CTR components are used (Talon FX etc…).
Closing Notes
- While most if not all the components are in, we will start shipping orders November 1st
- Lower price points → Our goal was to reduce the price of our big module line. Prices have been changed as follows. Below does not include encoder or motors.
- X2 - Tube Mount → $275
- X2 - Corner Mount → $300
- X2i - Tube Mount → $300
- X2i - Corner Mount → $325
- X2t - Tube Mount → $325
- X2t - Corner Mount → $350
- Modules will ship with aluminum wheels until the high grip wheels are available, from then on the high grip wheel will be the standard wheel option for every module and the aluminum will become the add on option. Any team receiving orders without high grip wheel and hub can email us when they are in stock and we’ll ship them:
- 1 set of hubs + high grip tread
- 2 free sets of high grip tread
- From now till kickoff any teams that order the X2 will get 2 free sets of High Grip Molded Treads!
