I wanted to share a fun modification you could make to MAXSwerve.
Some teams really like CTRE motors, so I wanted to see if I could modify MAXSwerve to use all CTRE electronics. The total size of the module is 4"x4.5"x7.5", making it the smallest Kraken X44 powered module. (Swerve XS being 4.5"x4.5"x8.3")
I don’t see any reason why this design wouldn’t work, but I would really recommend against running it. The electronics alone cost just shy of $290 per swerve module, which is $40 more than the swerve module itself costs. Additionally, these bearings are way too small to trust on your drivetrain.
You could run the neo 550 off of it, plug the absolute encoder into the data-port, and (assuming you are running a kraken to drive) use the CTRE Swerve library. I think that adds about $45/module. Still expensive, but not as bad as using the Kraken X44.
This seems like what our next step will be as we slowly transition to Kraken motors. We spent a good chunk on Rev Max Swerve last season and plan to run it again this season probably (unless the game is anti-swerve). I’d consider switching just drive to krakens and keeping the 550 steering motors with the talonFXS to get it all into CTRE libs for simplicity sake. It would also give us the CTRE swerve generator and the benefits with that as well.
I believe this is cheaper than buying a whole new swerve that was designed originally for Kraken + buying drive and steer krakens in our scenario @Eliot awesome stuff and I hope we make use of this design either this season or next season definitely
I am curious if one could get away with some oillite bushings instead of ball bearings for the azimuth jackshaft… For the lifespan of an FRC bot I think it may be possible. Would probably require some decent surface finish shaft though.
The other (probally better) option would be to make the shaft a dead axle.
