Simple Swerve

You can build this swerve drive mostly with parts you might already have.  All parts are COTS except for one main mounting plate (could be laser cut metal or wood) and a few small modifications on some parts. This is a design only, released for free to the FRC community.  This swerve was originally envisioned as a software test platform, but we have seen some teams with VersaPlanetary swerve drives at competitions in the 2018 season!   Bill of materials (csv) Bill of materials (pdf) Assembly solidmodel Mounting plate solidmodel Mounting plate DXF Mounting plate drawing Modifed parts instructions Assembly Instructions Outline drawing Code example (github) Code example snapshot (zip)