In preparation for the 2019 season, Team 2910 Jack in the Bot is excited to release the CAD for our MK2 swerve module.
When viewed from the top, the module is pretty much symmetric across it’s diagonal. This makes it so there is no need for a mirrored version. The MK2 module’s mounting bolt pattern and ground clearance are the same as the Swerve Drive Specialties MK1 module. The mounting plate is designed to easily integrate with VersaFrame. The standard configuration is to mount the module on top of the frame. However, like the MK1 module, the module can be mounted below the frame for extra ground clearance.
The weight of the module is 4.9 pounds.
Using COTS gears, the available drive gear ratios result in unadjusted free speeds of:
Like the MK1 module, the MK2 module uses a 4" VersaWheel. We also have a custom aluminum wheel designed for 1" width nitrile tread.
The gear ratio for the steering of the module is 18:1. This ratio is pretty low, but the NEO should have more than enough torque to overcome this. We will likely dial back the steering NEO’s output in some way to make the PID more controllable.
We are not sure if this module will be viable for the 2019 season because the NEO and Spark Max are very new and we have not tested how they will work in this application. We figured we would release it just in case.
The module can also be used with 2 CIMs or mini CIMs with a CIMcoder to measure driven distance. This makes the module much heavier and quite a bit taller. At that point the MK1 module probably makes more sense to use.