Swerve Modules (MK4n)

• L1+ gear ratio to maximize acceleration on shorter cycle paths

• Shock-absorbing 3D-printed TPU camera mounts for reliable AprilTag localization

• Kraken X60s with FOC for high torque driving and Falcon 500s for steering

Chassis

• ¼” offset from maximum frame perimeter on all sides to allow for mounting intake plates and bumper hardware.

• Custom 3D-printed sliding dovetail joints secure bumper ends to robot frame while still allowing for easy removal

Electronics

• Angled battery underneath superstructure to make swapping easy

• Brainpan (electronics upside down underneath the bellypan) to make wiring easier, as we planned to make a short and compact robot.

• Holes running through frame rails and lightening holes keep wire management tidy

• Keyed cover panel keeps electronics protected from fuel during match while being quickly removable

Mechanical

• 1x Kraken x60 for the intaking rollers running 1:1

  • Needed for the fastest intaking speed possible

• 1x Kraken x44 pivots the intake on a 45:1 reduction

  • 10DP gear pivot ensures ease of assembly and robustness

• Wide intake facilitates driving and fuel pick up. 

• Thick stock 2x1 beater bar for increased durability and torsional rigidity

• The intake pivot is on a dead axle for modularity and robustness

• Hopper walls are ⅛” polycarbonate sheets with flanges to prevent bending

• Drawer slides are used on either side of the extendable hopper 

Controls

• Hardstops are used for ease of software

  • Bumpers act as the extended position hardstop

• Limelight camera used for game piece detection, easing the load on the driver

• The main wheel, driven by a Kraken x60 on a 3:1 reduction, quickly index balls into the feeder. 

  • A conical wheel was chosen based on prototyping due to its ability to quickly 

• [Spinny part details and gearing here]

• Two custom ¼ inch aluminum plates alongside a motor mounting plate make up the feeder

• Custom 3D-printed ramp for compact packaging and consistent compression

• Two custom active rollers driven by a Kraken x60 with a 2:1 reduction for a balance between speed and sufficient force to drive fuel into the shooter

• Custom 3D-printed feeder mounts printed from Polymaker Fiberon filament, allowing for the feeder to mount at a specific angle

Mechanical

• 1x Kraken x44 powers turret rotation on a 35.42:1 reduction

  • Chosen since the turret can rotate faster than drivetrain and allows quick unwinding for e-chain.

• Turret base is supported by 1x1 tube superstructure mounted to the Drivetrain

• 7” ID X-Contact bearing clamped into base plate provides stiff connection while also being removable in case of damage

• Custom ¼” thick aluminum 85T gear pivots the turret which allows for minimal backlash and is easy to maintain

  • Plays a dual role, acting as the base of the shooter assembly

Controls

• Custom 3D printed Twister E-Chain allows for compact and robust wire management for shooter electronics while increasing range of motion substantially

  • 2 CAN wires are implemented but only one is used, while the other is a backup. 

• Two gears, 13T and 14T, run directly off of the main gear

  • CTRE CANCoders are attached to each, calculating the rotation of the turret using Chinese Remainder Theorem. This allows us to find the exact heading of the turret through the entire 600 degrees. 

Coming Soon