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    Swerve & Steer Module, Kit, NEO Motor, Lampry Encoder, PG Steer

    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.

    # Pièce: am-3009_NPLU
    $440.00
    Disponibilité: Rupture de stock - en rupture de stock et sera expédié une fois en stock.

    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

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    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

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    Split Collar Clamp 1/2 in. Hex HD

    #am-1526
    $5.50
    (113 En stock)

    This new custom designed collar clamp has been designed specifically with FIRST Robotics Competition teams in mind. This product is Out of Stock until Mid March

    4" Stealth Wheel, 1/2" Hex Bore, 50A, Blue, Durometer(am-2647_Blue)

    #am-2647_Blue
    $12.00
    (En stock)

    The inside black portion of this wheel is made from molded polycarbonate plastic. The outer tread is TPU (Thermoplastic PolyUrethane). This robust but lightweight wheel provides good traction on carpet and soft tiles. Stealth wheels are the perfect drive wheel for smaller (<50 lb.) robots, or for intakes and other auxiliary robot mechanisms. These wheels are available in a variety of bores and durometers. 4 in. Stealth Wheels feature a 6 bolt pattern on a 1.875 in. bolt circle for mounting sprockets, hubs, and gears. Nub Bore Stealth Wheels feature a 4 bolt pattern on a 16 mm bolt circle found in most FIRST Tech Challenge building systems. The lower the durometer the softer the wheel is, this makes it wear away faster, but also makes it more grippy.

    Product Usage:
    Many thread locking materials are not compatible with polycarbonate and can eat away at the plastic. Be sure to check which adhesives are okay to use with this product.

    Specifications

    • Bore: 1/2 in. Hex, 3/8 in. Hex, Nub Bore, 5 mm Hex
    • Diameter: 2 in., 4 in.
    • Durometer: 35A (Green), ⠀40A (Orange), ⠀50A (Blue), ⠀60A (Black), ⠀80A (Gray)
    • Hole Pattern: Qty 4 3.5 mm Holes on a 16 mm Circle for 8 mm bore wheels
    • Material: TPU, Polycarbonate
    • Weight: 0.23lb, 0.1lb
    • Width: 1 in.

    Documents

    Layout Print(s)

    am-3664 2in 5mm Hex Stealth Wheel REV4.PDF

    am-3156 2IN 8mm Stealth Wheel REV3.PDF

    am-3436 2in 375Hex Stealth Wheel REV3.PDF

    am-3155 2in 500Hex Stealth Wheel REV3.PDF

    am-3665 4in 5mm Hex Stealth Wheel REV3.PDF

    am-2648 4IN 8mm Stealth Wheel REV5.PDF

    am-3435 4in 375Hex Stealth Wheel REV3.PDF

    am-2647 4in 500Hex Stealth Wheel REV3.PDF

    CAD File(s)

    am-3664 2in 5mm Hex Bore Stealth Wheel REV3.STEP

    am-3156 2IN 8mm Stealth Wheel.STEP

    am-3436 2IN 375Hex Stealth Wheel REV2.STEP

    am-3155 2IN 500Hex Stealth Wheel REV2.STEP

    am-3665 4IN 5mm Hex Stealth Wheel REV2.STEP

    am-2647 4inWheel 500 Hex REV2.STEP

    am-3435 4in Wheel Integrated Hub 375 HEX with Tread REV2.STEP

    am-2648 4inWheel 8mm Hub REV2.STEP

    4" Stealth Wheel, 1/2" Hex Bore, 35A, Green, Durometer (am-2647_green)

    #am-2647_green
    $12.00
    (En stock)

    The inside black portion of this wheel is made from molded polycarbonate plastic. The outer tread is TPU (Thermoplastic PolyUrethane). This robust but lightweight wheel provides good traction on carpet and soft tiles. Stealth wheels are the perfect drive wheel for smaller (<50 lb.) robots, or for intakes and other auxiliary robot mechanisms. These wheels are available in a variety of bores and durometers. 4 in. Stealth Wheels feature a 6 bolt pattern on a 1.875 in. bolt circle for mounting sprockets, hubs, and gears. Nub Bore Stealth Wheels feature a 4 bolt pattern on a 16 mm bolt circle found in most FIRST Tech Challenge building systems. The lower the durometer the softer the wheel is, this makes it wear away faster, but also makes it more grippy.

    Product Usage:
    Many thread locking materials are not compatible with polycarbonate and can eat away at the plastic. Be sure to check which adhesives are okay to use with this product.

    Specifications

    • Bore: 1/2 in. Hex, 3/8 in. Hex, Nub Bore, 5 mm Hex
    • Diameter: 2 in., 4 in.
    • Durometer: 35A (Green), ⠀40A (Orange), ⠀50A (Blue), ⠀60A (Black), ⠀80A (Gray)
    • Hole Pattern: Qty 4 3.5 mm Holes on a 16 mm Circle for 8 mm bore wheels
    • Material: TPU, Polycarbonate
    • Weight: 0.23lb, 0.1lb
    • Width: 1 in.

    Documents

    Layout Print(s)

    am-3664 2in 5mm Hex Stealth Wheel REV4.PDF

    am-3156 2IN 8mm Stealth Wheel REV3.PDF

    am-3436 2in 375Hex Stealth Wheel REV3.PDF

    am-3155 2in 500Hex Stealth Wheel REV3.PDF

    am-3665 4in 5mm Hex Stealth Wheel REV3.PDF

    am-2648 4IN 8mm Stealth Wheel REV5.PDF

    am-3435 4in 375Hex Stealth Wheel REV3.PDF

    am-2647 4in 500Hex Stealth Wheel REV3.PDF

    CAD File(s)

    am-3664 2in 5mm Hex Bore Stealth Wheel REV3.STEP

    am-3156 2IN 8mm Stealth Wheel.STEP

    am-3436 2IN 375Hex Stealth Wheel REV2.STEP

    am-3155 2IN 500Hex Stealth Wheel REV2.STEP

    am-3665 4IN 5mm Hex Stealth Wheel REV2.STEP

    am-2647 4inWheel 500 Hex REV2.STEP

    am-3435 4in Wheel Integrated Hub 375 HEX with Tread REV2.STEP

    am-2648 4inWheel 8mm Hub REV2.STEP

    FTC Soft Tiles Carrying Bag, Fits 18 Tiles

    #AM-2500b
    $42.00
    (En stock)

    These nylon carrying cases are for Soft Tiles foam floor mats. The bag is zippered with two large handles. Each bag is designed to hold up to 18 tiles which is half of an FIRST Tech Challenge playing field. This is the bag by itself and does not come with Soft Tiles. This bag is perfect for a team practicing at home or an event manager transporting fields to and from venues.

    12V Lead Acid Battery Set of 2

    #am-3062
    $145.00
    (6 En stock)

    The SLA1116 is a 12 Volt, 18 amp-hour sealed lead acid battery with nut and bolt connector. The batteries will be packed within a 7"x7"x7" box (aka: interior box). A layer packing material surrounds the interior box, within a 9"x9"x9" box. The entire weight of this double box packing assembly will be approximately 29 pounds. 

     

    These premium batteries are AGM (absorbent glass mat) type sealed lead-acid batteries. AGM batteries use thin glass fibers interwoven into a mat. This helps to make the battery spill-proof, as the fibers containing the glass mat gradually absorbs the acid composition. As a result, AGM batteries have fewer hazardous material limitations.

     

    AGM’s unique composition allows the batteries to produce high currents and longer life span. The technology also minimizes internal resistance and helps the battery to survive low temperatures. Specific models of AGM product will allow users to benefit from AGM’s deep-cycling capability. It also offers a charging speed that is 5x faster than conventional flooded deep-cycle batteries.
     

    AGM ADVANTAGES
    • Less prone to sulfation - (Topping off charges typically only required every three months).
    • High on-demand power, Low internal resistance & responsive to demand load.
    • Longer/ better cycles & efficient usage life than conventional flooded systems.
    • Up To 5X Faster charging capacity (Compared to conventional flooded battery technology).
    • Stands up well to cold temperature.
    • Vibration resistance due to sandwich construction.
    • Spill proof through acid encapsulation in matting technology.
    • Eco-friendly, has less electrolyte and lead compared to conventional flooded type batteries.
     

    AGM CONSIDERATIONS
    • Higher cost than conventional batteries.
    • Must be stored in charged condition (less critical than conventional flooded batteries).
    • AGM batteries are sensitive to overcharging

    Two (2) batteries are shipped within one box for this price.

     

     

    Specifications

    • AMP Hours: 18
    • Life Expectancy: 100% Depth of Discharge: 200 Cycles, 80% Depth of Discharge: 225 Cycles, 50% Depth of Discharge: 500 Cycles
    • Life Span: 3-5 years in float service application, 1-2 years in competition robotics at peak performance, but longer as a practice or demo battery
    • Manufacturer: Interstate Batteries
    • Manufacturer Part #: SLA1116
    • Size: 7.1 in. long x 3.0 in. wide x 6.58 in. tall
    • Style: Sealed Lead Acid
    • Voltage: 12V DC
    • Weight: 12.5 lbs each battery

    Documents

    Guide(s)

    Interstate Batteries SLA1116 User Guide.pdf