Swerve & Steer

$198.00 – $439.00

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Availability: Usually Ships within 5-7 Business Days of order placement. Swerve, but also Steer! The most reliable, easy to use, and easy to integrate swerve module for FIRST Robotics Competition ...Read More

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Product Overview

Availability: Usually Ships within 5-7 Business Days of order placement.

Swerve, but also Steer! The most reliable, easy to use, and easy to integrate swerve module for FIRST Robotics Competition teams. Swerve was once a drive style only attainable for top tier teams but now swerve is for everyone. Available assembled or in an unassembled kit these are more affordable and configurable than ever before.
These all-in-one swerve gearbox and steering module comes ready to mount and program right out of the box. It is by far the most inexpensive and most complete swerve drive solution for FRC.

Drive and Steer Motors:

The wheel propulsion is powered by your choice of several motors; CIM, Falcon 500, NEO, or even order without a drive motor and integrate your own. Rotation control by default is managed by a PG71 gearmotor. Order without the PG and use your own steering motor of choice. Both of these motors are mounted to the main motor plate, which can easily be mounted to your robot frame or other structure via the 0.5 in. hole pattern around the perimeter.

Position Sensing:

  • "PG": The incremental encoder on the backside of the PG71. This encoder can be used to determine the steering angle provided that all the modules start facing forward. This encoder connects to the roboRIO via DIO ports. Each channel output goes into a different DIO port.
  • "MA3": An MA3 absolute encoder and associated hardware included. The user has the option of 5 mounting locations for this encoder. This encoder connects via DIO on the roboRIO.
  • "Lamprey": A Lamprey through bore absolute encoder pre-installed and pre-calibrated into the module. This encoder works directly with a Talon SRX Motor Controller and be connected by this data port cable am-2617, not included

Wheel Rotation Sensing:

If encoder based measurement wheel rotation (ie. distance traveled) is desired, the NEO or Falcon 500 brushless motor options should be chosen as they have integrated encoders that can output this information.  

Drive Gearing Ratio:

  • 12 tooth spur gear is driven by CIM Falcon 500 Motor, or 
  • 40 tooth spur gear is driven by 12 tooth spur gear
  • 20 tooth bevel gear is co-axial with and driven by 40 tooth spur gear
  • 40 tooth bevel gear is driven by 20 tooth bevel gear
  • 4" HiGrip Wheel is co-axial with and driven by the 40 tooth bevel gear
  • Overall Gear Ratio: 6.67:1

Drive Speed:

  • 660 or 800 Max Wheel RPM (depending on motor selection)
  • 11.5 or 13.5 ft/sec (depending on motor selection)

Steer Gearing & Ratio:

  • 48 tooth spur gear is driven by PG71 gearmotor
  • 40 tooth spur gear is driven by 48 tooth gear
  • Lower portion of the module pivots directly with the 40 tooth gear
  • Max Steer Speed: 90 RPM

    Programming:

    Team 1640 has some example code for driving a swerve system. Their Cheif Delphi post can be found here, https://www.chiefdelphi.com/media/papers/2704. The Library and explanation can be downloaded here, https://files.andymark.com/FRC1640_2011_PivotDriveLibrary.zip

    Improvements Log:

    • 2021/02
      • Visual Differences
        • Some plates and gears may have small differences in look and shape but are functionally the same.
    • 2021/01
      • Selectable Drive Motor Options
        • Added NEO as an out of the box option
        • Added "no drive motor" as an option to use your own motors
      • Selectable Steer Motor Options
        • Added "No Steer Motor" as an option to allow the use of already purchased motors
      • Added unassembled options for a low cost swerve experience
      • Added nut pockets in bearing plate for easier assembly 
    • 2020/01
      • Choice of CIM or Falcon 500 motor
      • Choice of either PG, MA3, or Lamprey encoder
      • Thrust needle bearings replace bushings supporting the robot weight.
        • Gear plate redesigned for more supporting surface area
      • Ball bearings replace bushings on the 12T input gear shaft.
        • Bearing gear redesigned to accommodate this bearing as well as the Lamprey encoder magnet
      • Drive axle is captured with tapped ends to increase yoke rigidity.
        • Yoke redesigned to accommodate hex spacers sizes
        • Drive axle has tapped ends
    • 2019/11
      • Standardized CIM pinion to 1/2 in. face width with 3/8 in. of centered tooth engagement
    • 2019/09
      • Removed unused hole and adjusted thickness on bearing plate
    • 2019/08
      • The motor mount plate has been widened to make mounting to box tubing frames easier and the lightning pattern has been redesigned. Note this change means they no longer 100% drop-in replacements for old modules. See CAD for details.
      • The PG71 now uses a 1/2 in. hex shaft as the 3/8 in. hex PGs are being phased out.
    • 2019/01
      • The PG71 now uses a 3/8 in. hex shaft and the gear mounted to it has access holes for easy tightening and removal of the gearmotor.
    • 2017/07
      • The keys used to transmit torque from the CIM were widened to prevent it from becoming dislodged.
      • The collar clamp on the CIM pinion was replaced with one of higher quality to improve clamping force.
    • 2016/07
      • The absolute encoder, am-3308 now has mounting locations to give a 1:1 gear ratio to the module via the 40 tooth encoder gear for easier programming.
      • The 12 tooth CIM pinion now has a wider slot to allow for a 2 mm key to more securely lock the gear to the motor.

    Specifications

    • Motor Input: CIM, Falcon 500, NEO
    • Motor Quantity: 1
    • Weight: 3.5lb base kit + 2lb PG + Drive Motor + Encoder = 6.5lb to 8.5lb Total

    Returns

    Returns are accepted within 30 days of purchase.
    View our return policy here.

    7 reviews

    1. star star empty_star empty_star empty_star 2 out of 5 stars

      Poor machining.

      Most of the 10-24 holes needed to be re-tapped. A majority of the holes had loose shavings within the threads. (AndyMark response: Thank you for this input. We will check these holes better in the future. BTW, they are 10-32 holes.)

      MM

      Verified Purchaser

    2. star star star star star 5 out of 5 stars

      swerve

      For teams that do not have a lot of CAD/CAM ability, AndyMark always gives us an ability to try new things. The preassembled swerve modules, let us get a testBot going is less than one weeks. Going forward, we want to go to CAN bus to eliminated a bunch of control wiring. We already had 4 Neo500 motors so we swapped them into the CIM locations. Only issue was the motor leads and a 1/4 nut wanted to be in same place, but it worked ok. I have a Neo550 motor that I would dearly love to mount on the PG71 gearbox, but I may not be smart enough. This will get rid of all the PWM + encoder cables. Enough whining... Your modules did exactly what we wanted. You got us a working swervebot with the least amount of cost and fabrication effort. Thanks

      rN from TROUT LAKE

      Verified Purchaser

    3. star star star empty_star empty_star 3 out of 5 stars

      There all right

      It is a simple design that seems to work fine but just fine. The encoders that are included work but not well. We had problems in 2017 with the encoders slipping causing the wheels to be misaligned causing the robot to be difficult to drive. They are much better when you add absolute encoders. But there is still a problem with the fact the the wheel isn't in the center of the pivot point. its off to the side so the robot jiggles if your just spinning the module

      C V

    4. star star star star star 5 out of 5 stars

      AM Swerves led to game dominance

      These drives, with a little attention to detail between matches, gave team 3707 one of the most agile bots on the field last year. We added the absolute encoders and CIMcoders. Take care to make sure the shaft keys stay in place when installing CIMcoders. Thanks AndyMark.

      D D

    5. star star star star star 5 out of 5 stars

      Great Product

      We were building a prototype t-shirt shooter with a swerve drive as an off-season FIRST robotics project and this product made it all possible! We were up against a grant deadline and the whole AndyMark team went above and beyond for us. From sales, to customer support, to the mechanical assembly personnel - all were a pleasure to work with!

      BB from Rockton

      Verified Purchaser

    6. star star star star empty_star 4 out of 5 stars

      "Almost perfect"

      "I have purchased 3 of these modules and the biggest issue is the machine key that holds the PG71 to the pivot gear. One module has a key that was manufactured too long and skinny so the retainer ring didn't fit well. As a result, the retainer ring was missing a tooth that should have kept the machine key in. This allows the wheel to rotate +- 5 degrees without motor input. A better QC job is what I would recommend. Otherwise, the other 2 modules came with proper length machine keys and are tight and don't allow unwanted rotation. The swerve module is generally a great product."

      AS

    7. star star star star star 5 out of 5 stars

      Big robot? Just the thing!

      This is one of THE HIGHEST QUALITY and MOST COMPLETE AND CONVENIENT parts I have EVER PURCHASED in my 25 YEARS of robotics experience! I cannot STRESS THIS ENOUGH! It will make your next robot build a JOY! Worth EVERY PENNY. Period. And Customer Service and support are BAR NONE. Shop here. Buy here. Support this company.

      JB from Lockport

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