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Swerve

Swerve Modules

In FIRST, there are several types of swerve modules which have their own nuances dedicated to specific robot performance

Swerve X2i

  • At YETI, we typically use the X2i modules. The 2 is for the 2 motors (one for turning and the other for driving) and the i is for the inverted placement of the motors. This module has a symmetrical gearbox and we use these modules for protection of the swerve motors and for the lower center of gravity (CG).

Swerve X2c 

  •  The "c" stands for compact layout which positions the motors closer to each other to optimize the horizontal space. The X2c modules feature an asymmetrical gearbox  and use a Kraken X44 for turning and can use an X60 or X44 for driving. Teams typically choose this due to its compact profile and wider wheels which allow for better traction. 

Swerve X2t 

  • The X2t module is slimmer and has an asymmetrical gearbox. The "t" stands for thin layout, optimizing the vertical space. These specific modules take up more of the perimeter space of your chassis, but allow for more central space. This is good for full width intakes and other design choices which require this increase in central availability.

Mounting Swerve Modules

Swerve modules are bolted by either a corner mount or a tube mount

  • Tube mount - Mounting style which has the 2x1s touching when positioned, allowing for stronger structural support, but the decrease in wheel base causes the robot to be more prone to tipping. You can find this mounting style on the 2025/26 alpha bot.  
    • Pro - Very structurally strong
    • Con - Loss of wheel base and track, making less stable robot
      • Wheel base is how far your wheel is distanced from front to back and track is how far your wheel is distanced from side to side, with the wider you go the better CG you accomplish

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  • Corner mount - Mounting style which has the 2x1s spread out from each other, with a gap in between. This increases the wheel base, but makes the overall structural support prone to taking more damage
    • Pro - Wheel base spread out more, allowing for better speed and traction
    • Con - Less strong, likely to bend plates

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Mounting Choice

  • 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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