Team 2056 OP Robotics Technical Binder Release

Team 2056 OP Robotics is proud to present our 2023 Technical binder and our heavily requested Swerve Module Covers for our robot, UPPERCUT!

Feel free to ask any specific questions.


Your tech binder is awesome! Will OP be releasing their code this year?


I’m extremely interested in how your swerve implementation specifically was done. It’s not an understatement to say that out of any robot I observed myself this year your autonomous movement was the most accurate by far without sacrificing too much speed at the same time.

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Thanks so much for sharing this. We have learned from your team and are continually impressed.


wonder if thats some of the ‘magic’ of phoenix pro. Noticed they talk about that at the end of their tech binder.

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Thank you for sharing this, has been really cool to look at.

Were there any issues with shearing of the 1/8” box beam for the top pivot point attachment? Was that point reinforced at all?

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Thank you for sharing!

To eliminate backlash you mention you used a retaining
compound, what type of compound is it? Is it something like “Loctite”?

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How often did you find the operator needing to manually reset the gyro? What would cause them to need to do this?

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Thank you for sharing! An absolute joy to watch in action.


We do not have plans to release it at this time.

We observed a significant improvement in the accuracy and repeatability of our odometery after implementing Phoenix Pro’s time sync.

Yes, we did reinforce it. On our practice bot, we did notice a crack had formed and noticed the tube wall had deformed a little so as a precaution and to improve the rigidity we mounted a 1/4" aluminum plates with four 8 bolts.

It is Loctite 609.

We found the Pigeon 2 to be extremely accurate and have no noticeable drift over the course of a FRC match. The gyro reset was mainly there for use during practice when the robot isn’t powered on in a known orientation. It was only used once or twice all season in real matches


How do you bolt on the top plate? It doesn’t look like enough material to tap and I don’t see enough room to have a nut.

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Ya, it doesn’t look like enough you get about 1 thread (1/4-20), but it was just holding the plastic cover on. As long as you’re careful when screwing it on (DON’T STRIP IT) it holds up totally fine, they never came out for us even with really hard hits. Those bolts were an afterthought and they were originally intended to be held on by the slight interference fit of the top cover. In the future, we plan to add a boss to the lower cover and put a heat set insert in to hold the top cover on.

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Do you guys detect the cone when picking it up from the ground (maybe with the limelight)? It almost looks like that from match videos with the flashing LEDs.

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We are not using any game piece detection in auto or tele-op. Our limelight is in the drivetrain and angled up to track cones nodes and April tags so it wouldn’t be possible to track game pieces and we didn’t find that we needed to. The LEDs Flash white when the game piece has been acquired, this leaves no doubt in the driver’s mind if they have the game piece when they can’t directly see the intake or game piece such as the single substation floor pickups.


Did you have any issues with swerve covers because of the reduced visibility into the module?

We did not have any issues with not being able to to see into the module because the covers prevented foreign material from entering, but as a precaution we would take off the top cover and inspect each of the swerve modules before and after each event to make sure they were in good condition.


Is there any possibility of the parametric CAD files for the module covers being published?

Just following up on this :slightly_smiling_face:

Not 2056 but here are MK4i and MK4 covers based after their STL files. The only thing changed is there is a spot for a threaded insert to mount the top cover with 10-32 instead of threading the module plate. The MK4 covers would replace the motor spacers but I am not sure if it should be used as it affects heat dissipation.

Sorry but our school Edu account doesn’t seem to let me make it public so you can make copies.


For people who have used these types of module covers, how hard is it to grease the module (using a syringe with a 1.5" needle) once the middle cover is attached, and the only access is through the top plate?
(CC: @Khalsa)