Swerve Guide

Recommended Software

• YAGSL (Yet Another Generic Swerve Library)
  • Works with all modules, motors, gyros, etc.
• Or CTRE Swerve
  • Only works if you are using exclusively CTRE motors, encoders and gyro

Swerve Requirements

• 4 Modules = $175 to $395 each
• 4 Steering Encoders (May be included with module) = $30 to $90 each
• 4 Drive Motors+Controllers = $150 to $200 each
• 4 Steering Motors = $150 to $200 each
• 1 Gyro = $200
• Total: ~$2300 to ~$3600

There are 4 vendors of modules

• REV Swerve
  • EasySwerve is the best module for teams on a budget.
• Swerve Drive Specialties (AndyMark is a distributor)
  • MK5n, MK5i
• The Thrifty Bot
  • ThriftySwerve 2.0 and Narrow Swerve (includes steering encoder)
• West Coast Products
  • Swerve X2, X2t, X2i, X2S*, X2Si* (*includes steering encoder)
• All of the posted options are of good quality.
• An SDS module can be purchased with the Drive Base Opt Voucher from AndyMark

Gyro

• CTRE
  • Pigeon 2.0

Steering Encoders

• Each module supports a specific set of encoders.
• REV Robotics
  • REV Thru Bore Encoder
• CTRE
  • CANcoder
• WCP
  • WCP ThroughBore Encoder
• The Thrifty Bot
  • Thrifty Absolute Magnetic Encoder

Other Things to Consider

• Steering Encoder Zeroing
• Module Protection (motors, encoders, etc)
• Coordinate Systems
• Spare Parts
• Programming Control Layout and Features