Swerve Guide

Recommended Software

• YAGSL (Yet Another Generic Swerve Library)

  • Works with all modules, motors, gyros, etc.

• Or CTRE Swerve

  • Only works if you are using exclusively CTRE motors, encoders and gyro

Swerve Requirements

• 4 Modules = $280 to $365 each

• 4 Steering Encoders (May be included with module) = $30 to $90 each

• 4 Drive Motors+Controllers = $130 to $200 each

• 4 Steering Motors = $130 to $200 each

• 1 Gyro = $90 to $200 each

• Total: ~$2300 to ~$3600

There are 4 vendors of modules

• REV Swerve

  • 3in MAXSwerve (includes steering encoder)

• Swerve Drive Specialties (AndyMark is a distributor)

  • MK4, MK4i, MK4n, or MK4c

• The Thrifty Bot

  • ThriftySwerve 2.0 (includes steering encoder)

• West Coast Products

  • Swerve X2, X2t, X2i, X2S*, X2Si* (*includes steering encoder)

• All of the posted options are good quality.

• An SDS module can be purchased with the Drive Base Opt Voucher from AndyMark

Gyro

• CTRE

  • Pigeon 2.0
• AndyMark

  • navX2
• Redux Robotics

  • BORON Canandgyro

Steering Encoders

• Each module allows for a certain set of encoders to work with them.

• CTRE

  • CANcoder
• WCP

  • WCP ThroughBore Encoder
• The Thrifty Bot

  • Thrifty Absolute Magnetic Encoder
• Redux Robotics

  • HELIUM Canandmag

Other Things to consider

• Steering Encoder Zeroing

• Module Protection (motors, encoders, etc)

• Coordinate Systems

• Spare Parts

• Programming Control Layout and Features