The encoder uses off axis technology that is available in a few IC’s. It uses a ring magnet with a sensing IC nearby to do both absolute and incremental output. The folks at CTR have done a ton of work to get this product going and the samples I have are pretty awesome. Picture of the internals for folks at home.
Its also helped us get the #10 hole inline to make this a slick package.
So, to clarify: SwerveXS 2 and SwerveXSt2 ship with the Spartan Mag Encoder, while the other X2 modules do not?
Correct, we may add that option later but now its just the default on the XS2 series. We wanted to get the price point lower for customers sub $300 with no motors.
This reminds me of something can’t put my finger on it 
IDK may be just me @Nick_Coussens
3005’s swerve, and the swerve XS and maxswerve as a result, were explicitly designed off this module as mentioned in their threads.
No azimuth belt and the option to flip them are massive improvements in the overall design. These modules are all so optimized and similar that at the end of the day it will be tough to simplify any more and have noticeable differences between iterations across the community.
At the end of the day, these are now on the table for teams without the means to manufacture them. It represents a lift in the competitive ceiling for all to make swerve more accessible.
We should encourage every vendor to pursue these types of product releases.
I mean, @Nick_Coussens is working at WCP right now so…
This is so amazing. I was wondering about the encoder mounting plate because my team had issues with mounting the Cancoder onto our swerve x modules that we bought 2 years ago. Would there be the same issue on the X2S or is there a way to fix the issue? The issue included the screw easily coming off the mounting plate because of applying the top cover onto the mounting plate and the screw not being long enough to the point it has worn out the hole of the mount which made it bigger and the encoder not getting a good detection of the magnet. Any information would be greatly appreciated
We haven’t seen this issue, but I can see this happening by continuously rethreading the screw holding the cancoder. The easiest solution for your team would be to use the throughbore as it threads into the metal plate.
As always if you need help, please email [email protected]. We’d love to get more information and check out your specific issue.
Cant believe we already got our x44! WCP has the best shipping times on the market for frc products, no doubt.
In addition to what RC said, we actually include #2-56 machine screws in the kit that are there for mounting either the CANcoder (can mount SRX Mag Encoder as well), or for mounting the Spartan Mag Encoder.
The top plate you mount the encoder to has actual tapped #2-56 holes in the aluminum plate, so you aren’t threading a self-tapping screw into plastic that can wear out.
I know #2-56 is small but this is simply based o n the existing size of the mount hole in the CANcoder housing. The thread-forming screw that is typically used on the CANcoder to mount the top housing to the bottom is #2 size.
Hopefully that answers your questions and makes it a bit more reliable for teams mounting these encoders in the future.
Hi R.C! Our team wants to migrate to the X2S this season but do it in a staged approach over the next two seasons for budgetary reasons.
The plan is to move from MAXSwerve to the X2S hardware platform this season but utilizing our current inventory of REV absolute encoders, Spark Maxes, Neo 550s and Neo 1.1s. With the intention of moving to the X60/X44s during the off season and 2026 competition.
However we had two outstanding questions that we couldn’t immediately find in the documentation: (maybe the onshape configurations will address these when they go live?)
Fingers crossed we can make this staged transition work! The X2S looks great!
Based on previous setups some of us at WCP have run with these smaller motors, and the current limits that were run and how much we saw pulled, my best estimate is that it should be fine. The biggest thing will be heat buildup on the motors, so that would be something to look for and think about for setting your current limits. The 775pro is probably one that would be pushing the limits most simply because it has such a high free speed. The Neo550 should have the best case of working well of the various existing small motors (The new Kraken X44 and Minion motors of course would perform better).
I did spend some time looking at creating an easy adapter plate to be able to mount various planetary gearboxes (VP, UP, etc) to if you wanted additional reduction. The issue here is that none of the COTS planetaries out there currently have a way to put the addendum shifted 8T pinion gear on one of the output shaft options. If there were other shaft options from those vendors for those gearboxes such as a SplineXS output shaft, then this would be an option.
You didn’t ask specifically about using the NEO or Vortex for the drive on the X2S, but figured I would confirm again in this post that the module is compatible with both of those motors, as well as general CIM class motors; just be sure to select the right ratio kit when purchasing so that the pinion gears have the correct bore. Note that for the X2St, the ratio kit is not effected by motor choice so that dropdown does not exist on that product page. Both pulleys needed for SplineXS and 8mm key bore motor shafts are included when purchasing a X2St module.
Does WCP have some sort of estimate of the thermal time constant and heat dissipation mechanisms to better be able to model if the heat buildup is actually a problem or not rather than having people hand-wavily say “it will/will not be fine”?
Also wanted to post some graphics of all the different X2 and X2S modules to give everyone a better idea on the different packaging and sizes for all configurations.
Just curious, does this include CIMs?
Yes it does. Iirc there is a slight amount of slop along the CIM shaft for the pinion gear to move up and down on the standard (X2S) version while using the included Vortex/NEO shaft spacer. This could potentially allow the pinion to rub against the underside of the encoder hat (gravity doesn’t want this, but it could happen). This is barely the case, but teams could definitely print a spacer to replace the NEO/Vortex spacer that is included to remedy this.
We decided it was not including an additional spacer for this since there are so few teams ever using CIM/MiniCIM in 2024/2025. Also this slop was very very small, iirc it was like 0.02in.
This is overall a very slight issue with CIMs if at all, so I am comfortable saying that you can use a CIM/MiniCIM on the module.
EDIT: I should update to say that a CIM cannot be used on the X2St, as the diameter is too large to fit next to the frame tube and the steering motor, but also the body would hit the ground.
The doc page for the module has been updated to specifically mention this.
can’t wait to see CIM drive and Kraken x44 steer at comps this year 
@R.C you are a proponent of the #allblackeverything philosophy, yet your website doesn’t have a dark mode setting. Curious
If he did that you wondn’t see anything.
