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    SDS MK4i Swerve Modules (Non Assembled, L2 6.75:1, No Motor, NEO Pinion, CANCoder)

    The MK4i module inverts the motors on an MK4 module to a lower position where they are out of the way and better protected. Overall height and center of gravity are therefore lower. The MK4i module also moves the wheel further into the corner of the chassis for a wider wheelbase which results in a more stable robot. Because the wheel is moved into an area the frame would typically occupy, the MK4i includes a secondary plate to properly box in the chassis.

    MFR Part #: am-4756_N2XCU
    $775.00
    Availability: Out of Stock - on backorder and will be dispatched once in stock.

    Other Highlights of the MK4i module include:

    • On-axis steering encoder (zero backlash, module can be disassembled/reassembled without resetting encoder offset)
    • All plates made out of 7075-T6 aluminum
    • All steel gears
    • All moving parts are protected under top plate
    • Includes secondary plate to box in frame
    • 10-32 mounting holes on main plate for other robot subsystems
    • Encoder guard to protect the steering encoder
    • Same frame-to-floor height as previous Swerve Drive Specialties modules
    • Same L1 - L3 drive ratios as the MK4 module
    • No 3D printed parts
    • Cable-tie “nubs” keeps cable-ties in place
    • Bottom and top mounted chassis options
    • Includes wheel tread cut-to-length, drilled, and pre-installed on wheel
    • Includes all hardware, including hardware to mount module to robot

    The MK4i module has many parts in common with the MK4 module. Kits to convert the MK4 to MK4i are available.

    NEO V1.1 motors or Falcon 500 motors are compatible with the MK4 module. CIM motors are not compatible with the MK4 due to their larger diameter. The MK4 module is available with either NEO 8mm bore pinion gears, or Falcon 500 spline bore pinion gears.

    The full steering ratio of the MK4i is 150/7:1 , passing through one gear pair, then a pulley pair using a 64 tooth belt (am-4921)

     

    The MK4i is available in 3 different drive gear ratios. The table below shows the drive gear ratios and free speeds with NEO V1.1 and Falcon 500 motors. L1 and L2 ratios are the most popular ratios and are suitable for standard full weight competition robots. The L3 ratio is more aggressive and is recommended for light weight robots.

     



    The module easily mounts to common 2X1 frame material. The module main plate typically mounts on top of the robot chassis, however, there is also clearance to mount the chassis on top of the module main plate to maximize ground clearance.

    Documents

    Don't see what you need?

    See_all_our_guides,_drawings_and_CAD_files_here

    Layout Print(s)

    am-4756 MK4i.pdf

    CAD File(s)

    SDS MK4i Swerve Module, NEOs

    SDS MK4i Swerve Module, Falcons

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    Other Highlights of the MK4i module include:

    • On-axis steering encoder (zero backlash, module can be disassembled/reassembled without resetting encoder offset)
    • All plates made out of 7075-T6 aluminum
    • All steel gears
    • All moving parts are protected under top plate
    • Includes secondary plate to box in frame
    • 10-32 mounting holes on main plate for other robot subsystems
    • Encoder guard to protect the steering encoder
    • Same frame-to-floor height as previous Swerve Drive Specialties modules
    • Same L1 - L3 drive ratios as the MK4 module
    • No 3D printed parts
    • Cable-tie “nubs” keeps cable-ties in place
    • Bottom and top mounted chassis options
    • Includes wheel tread cut-to-length, drilled, and pre-installed on wheel
    • Includes all hardware, including hardware to mount module to robot

    The MK4i module has many parts in common with the MK4 module. Kits to convert the MK4 to MK4i are available.

    NEO V1.1 motors or Falcon 500 motors are compatible with the MK4 module. CIM motors are not compatible with the MK4 due to their larger diameter. The MK4 module is available with either NEO 8mm bore pinion gears, or Falcon 500 spline bore pinion gears.

    The full steering ratio of the MK4i is 150/7:1 , passing through one gear pair, then a pulley pair using a 64 tooth belt (am-4921)

     

    The MK4i is available in 3 different drive gear ratios. The table below shows the drive gear ratios and free speeds with NEO V1.1 and Falcon 500 motors. L1 and L2 ratios are the most popular ratios and are suitable for standard full weight competition robots. The L3 ratio is more aggressive and is recommended for light weight robots.

     



    The module easily mounts to common 2X1 frame material. The module main plate typically mounts on top of the robot chassis, however, there is also clearance to mount the chassis on top of the module main plate to maximize ground clearance.

    Documents

    Don't see what you need?

    See_all_our_guides,_drawings_and_CAD_files_here

    Layout Print(s)

    am-4756 MK4i.pdf

    CAD File(s)

    SDS MK4i Swerve Module, NEOs

    SDS MK4i Swerve Module, Falcons

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    #am-3738_20
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    20 Amp MINI Yellow Fuse

    #am-3605
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    This 20 Amp fuse is used in FIRST Tech Challenge batteries and the FIRST Robotics Competition Power Distribution Panel (am-2856).

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    • Color: Yellow
    • Amps: 20
    • Max Voltage: 32
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    • Specification: SAE J2077
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    CANCoder Magnetic Encoder

    #am-4237
    $130.00
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    This encoder is a magnetic rotary encoder that communicates over a robots' CAN bus. This encoder supports CAN 2.0 and provides the same position, velocity, and resolution as you would expect from the SRX Mag encoder.


     

    For Cross The Road Electronics warranty replacements or assistance with CTRE products, please contact Cross The Road Electronics. Email: [email protected]

     

    Specifications

    • Current: 60 mA Max, Less than 50 mA Nominal
    • Gauge: Minimum Recommended 22 AWG
    • Voltage: 6-16V DC

     

    Documents

    Don't see what you need?

    See_all_our_guides,_drawings_and_CAD_files_here

    16T, CIM Sport Pinion

    #am-3785
    $7.69
    (16 In stock)

    This pinion gear attaches to an CIM style motor or gearbox so it can be used with a CIM Sport Gearbox.

    Specifications:

    • Tooth Count: 16
    • Module: 0.7
    • Pressure Angle: 20
    • Pitch Diameter: 0.44 in.
    • Overall Length: 0.35 in.
    • Material: Steel
    • Bore: 0.312" Round (7.92mm) This is a press fit onto the CIM Motor (am-0255)
    • Weight: 0.008 Pounds

    RAW Box (am-2372)

    #am-2372
    $336.71
    (2 In stock)

    The RAW Box is a strong, compact gearbox utilizing CIM Motors. Steel and brass worm gears are used in order to provide a setup where the CIM Motors are located at a right angle from the output shaft. Since one or two motors can be used as input for this gearbox, and the gears are made of strong materials, this gearbox can provide a high level of torque.

    navX2-MXP Robotics Navigation Sensor

    #71042
    $149.00
    (843 In stock)

    BRAND NEW NEXT-GENERATION SENSOR NOW AVAILABLE - leveraging new sensors and state-of-the-art algorithms to deliver a leap forward in accuracy and performance.

     

    “Generation 2” navX2-MXP is a drop-in replacement for “Classic” navX-MXP, adding significant performance enhancements. See the Frequently Asked Questions (FAQ) for more information about navX2-MXP's new and enhanced capabilities.

    navX2 MXP 4.1

     

    Key specifications include:

    • 9-Axis Inertial/Magnetic Sensor (Gyro / Accelerometer / Magnetometer)
    • Intelligent Motion Processor
    • RoboRIO Expansion I/O
    • Check out all the features

    Many capabilities:

    • Field-oriented drive, auto-balancing, collision detection, motion detection, auto-rotate-to-angle, linear velocity vectors and more…
    • 10 Digital I/Os, 4 Analog Inputs, 2 Analog Outputs, and TTL UART / I2C / SPI ports.
    • Easily installed via RoboRIO’s MXP Expansion connector or USB port.
    • C++, Java and LabView libraries and sample application code simplify integration.
    • Existing navX-MXP users can upgrade easily.
    • Free software libraries & example code are available for easy integration and use.

    What's New and Improved in navX2-MXP

    • Significantly improved yaw accuracy and stability, even during Extreme inertial events. navX2-MXP features very high-accuracy orientation (yaw/pitch/roll), with minimal yaw drift of ~0.5 degree per minute when moving, and < 0.2 degrees/hour when still. navX2-MXP is incredibly stable, and averages a yaw drift of only 2 degrees per DAY when still. navX2-MXP's new Industrial-class ISM330DHCX IMU sensor handles high rotation (4000 degree/second) and impact (16G, operates in higher temperature environments and can survive extreme shock events (20,000G).
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    • navX2-MXP features an upgraded 180Mhz 32-bit floating-point ARM processor, the new sensors, and new state-of-the-art software algorithms which take navX technology to the next level, including a blazing-fast 416-Khz Kalman Filter, enhanced sensor calibration and algorithms which fuse gyro, accelerometer and magnetometer data into a “9-axis heading”.
    • As a result of these upgrades, the accuracy of Velocity Vector Measurements and Displacement Estimates is also improved.

    More technical details are available in the navX2 MXP technical specifications and there's even more information at navX2-MXP Online.

     

    Software Install:

     

    WPILib Online Install Link: https://dev.studica.com/releases/2023/NavX.json 

     

    WPILib Offline Install, once downloaded, extract the contents into C:\Users\Public\wpilib\2023\ on windows or ~/wpilib/2023/ on Linux and macOS.