Description
Thrifty Swerve is an omni-directional swerve module designed for FRC. This narrow version works with one 60mm motor and one 44mm class motor, and enables teams to save room on their bots in one direction.
To order a full drive train's worth, you will want to add two A and two B modules.
Features include:
- All steel gear speed reduction for azimuth and drive – no belts
- 6 gear ratio options included – swappable without module disassembly
- Thrifty Absolute Magnetic Encoder included
- Extra 10-32 threaded mounting holes on the main and top plates
- All plates made from 7075 Aluminum
- Inverted motors located fully above the bottom frame rail, protecting them
- No 3D printed parts
- All 3/8 inch thick plates with side-tapped 10-32 holes
- Compatible with print-at-home Thrifty Swerve Covers
- Billet aluminum encoder cover
The module ships unassembled and the following components are not included:
- Drive motor (WestCoast Products Kraken X60, REV Robotics NEO or REV Robotics NEO Vortex recommended)
- Steering motor (Pulsar 775 or WestCoast Products Kraken X44 recommended)
- 1.5” Wide Tread or 95A pre-molded tread.
Gear Ratio Options - Included based on motor choices at checkout
Assembly Video
Assembly Guide
Layout Drawing
Narrow Swerve BOM
Note that the 8mm versions come with a Kraken azimuth pinion.
NOTE: Azimuth ratio is 24:1, which is not the same as the inverted Thrifty Swerve.
Weight:
3.97 lbs with no motors
5.79 lb with an X60/X44
5.53 lb with a Neo/X44
Modules are expected to begin shipping in October.
The OnShape document below includes a configurable assembly to help visualize the A and B configurations.
- PDF Viewer
-
