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Swerve

*Knowledge dump at the moment, will be refined soon!*

  • Typically use X2i (The i is for inverted) for protection of the swerve motors
  • Swerve X2c - Smaller than X2t, using Kraken X44
  • swerve X2t - slimmer and assymetrical gearbox
  • Swerve good at climbing inclines
  • put swerve images on wiki
  • Swerve bolted by corner mount or tube mount
    • Tube mount (on alpha) can tell since the 2x1s touch (Pro- strong) (Con - Loss of wheel base, making less stable robot)
    • Corner mount has 2x1s that don't touch (Pro - Wheel base spread out more, allowing for better speed and traction) (Con - Less strong, likely to bend plates)
  • Placing 2x1s under swerve mount allows for lower center of grav
  • Placing 2x1s on top of mount good for going over rough terrain and integrating under the bumper intakes (like in 2024)
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