No Products in the Cart
The new X2S and X2St swerve modules are a complete overhaul of the previous XS module. We have worked to strike a balance between performance, size, weight, and cost with these new versions, and have taken into account a ton of lessons learned from the many years of development everyone on our team has done on numerous different modules.
Size Comparison
Weight Comparison
Features that are constant across both module options:
New Steering Motor → The design of these new modules takes advantage of the new Kraken X44 motor to provide great steering control in a compact package. The design is also able to accept other standard 550 and 775 style motors. The steering motor is also easy to access and remove if needed on both module versions.
Encoder Flexibility → The modules include the new Spartan Mag Encoder, providing an easy way to have everything needed to get started with your swerve within the cheapest budget possible. The modules also have the option to use the CTR CANcoder, CTR Mag Encoder, and REV Through Bore Encoder. We should have models uploaded soon that can be printed to allow for use of the Thrifty Absolute Magnetic Encoder, and the Redux HELIUM Canandmag Encoder.
ThroughBore Encoder Compatibility → The modules are set up to take advantage of the new WCP ThroughBore by CANcoder (1/2" Hex). This encoder fits inside the module on-axis and, when assembly instructions are followed, results in no need for setting the zero position of the module. This means that swapping modules does not require resetting the zero position. The WCP ThroughBore by CANcoder (½” Hex) also integrates tightly into CTRE’s software including the fused CANcoder modes.
Drive Motor Flexibility → The modules accept any number of common drive motors, including the Kraken X60, NEO, Vortex, CIM, and even the Kraken X44 (we recommend this only for testing).
Corner Mounting → Modules have the same style mounting to frame members, set up for standard 2” tube height, and sit at the same height, allowing for a mix and match of both module versions. The wheel is always tucked into the corner of the module to guarantee the largest possible wheel base.
Corner Removal → Both module variations can be removed from the frame by pulling it to the outside corner of the robot. This means there is no need for extra clearance to the inside of the module to be able to slide the module off the frame tubes and then lift up or down; simply take the mount screws off and rotate the module out of the corner of the frame.
RH/LH Availability → All versions have Right-Hand and Left-Hand versions available. The X2S difference is minimal, and doesn’t affect overall package size in either direction. The bottom plate for a given hand is shared between X2S and X2St.
Standard Top Mount Holes → All top plates have a standard 1in pitch array of #10-32 tapped holes to allow for easy mounting of other COTS components for your robot design. These holes are also on pitch with the frame mounting holes.
Enclosed → Both versions are generally enclosed from the top and bottom to prevent debris from getting into the modules. Additional shields to cover the inside faces of the module are available to add to the frame to further enclose the module. The bumpers close off the outside sides to complete the enclosure of the module for maximum protection.
Clear Upgrade Path → Teams can easily swap from the X2S → X2St with just 2 plates and an additional hardware pack, while swapping from the X2St → X2S only requires a single plate. Ratio kits are the same regardless of module configuration.
Consistent Steering Ratio → The steering ratio does not change between module versions. The overall ratio is 25.9:1, and utilizes all gears to be as reliable as possible. The same parts for steering are used across both module versions, with the addition of one extra idler gear shaft on the X2St.
Improved Wheel & Fork → Changing out wheels is now way easier! Forks have built in spacers so no need for snap rings or separate spacers to hold the wheel in place. Forks are made of 7075 aluminum and contour around the inside of the x-contact steering bearing for a very rigid setup.
Wheel Choices → This module supports 3 types of wheels, 2 of which will be available this year. All wheel options are 3.5in diameter.
Drive Ratio Options → Both module versions accept the same gear ratio kits. There are 3 different gear sets, each with 3 different pinion gear options to provide a total of 9 possible speeds. Each module includes your choice of a gearset, and additional gear sets can also be purchased. Below are a list of the different ratio options, with free speeds listed assuming Kraken X60 without FOC utilized:
X2S Variation
Various mount hole options for clocking motor wires in different directions, including straight to the left and right, and at 45 degrees.
Kraken X60 or X44 for the drive motor can mount to a separate plate that then mounts to the main top plate. This allows for easy removal of the motor without the need to take apart the rest of the module, and eliminates the risk of motor mount screws falling down into the module. (This is limited to Kraken motors due to shaft and machine key lengths on other common motors).
X2St Variation
All mount holes for both the drive and steering motors are accessible without taking apart anything else on the module.
1in wide frame members can be placed directly on top of the module without any interference for additional robot structure.
Website
Software
Closing Notes
