VersaSwerve Reveal Video

[VacioArconte]

Originally Posted by Chak

Wow! Can you specify which parts are custom and how those parts would be made? I want to know how close you can get to a swerve using Vexpro COTS items as much as possible.

I see 2 ma3 absolute encoders on the module rotation. Is it just to provide a second choice of mounting, or does the use of 2 encoders help the accuracy/consistency/something? The ma3 encoder from Andymark is $45 each, and I find it hard to justify $180 extra if every other swerve uses only one encoder for position.

Actually, the left encoder (the one on the BAG output) is the steering encoder, while the right encoder (the one on the drive axle) is the drive encoder. Of course, drive encoders are optional with swerve, but after living through last season without drive encoders on swerve for autonomous, we thought it was important to include it.

There are only a couple of truly custom parts - most of the parts are machined from COTS parts. While designing, we intentionally avoided any parts that would require the use of the CNC, and so the most complex tools required for construction are a mill and a lathe.

To answer your question - the U gusset holding the wheel module together is custom, and the encoder mounts as well as the encoder coupler are all 3D-printed. There is a support tube around the drive shaft machined from a McMaster-Carr part, and a support block as well. If memory serves, everything else is machined from COTS parts.