Sds swerve vs mk4 Attention off-season roboteers I’m a mentor for Team 554. Colson Performa Wheels have been used extensively in BattleBots and FIRST Robotics Competitions, and are widely lauded as an intelligent choice for swerve. We are using Mk4i swerve modules. Because of the 50% increase of width, greater tread life and slightly better traction can be expected. The drive conversion factor will take rotations/minute given by the SDS MK4 Swerve Module General Forum @PatrickW had posted this up above I took it and made an Onshape document with it so we can CNC or laser engrave it later. To With the narrow side being only 4" wide inside of the frame member, it helps enable: Wide game piece intakes between the swerve modules. In particular, we’ve attempted to maximize debugging ability, optimize controls, and use WPILib’s built-in classes wherever possible over vendor libraries or custom code. The MK4 wheel is slightly smaller in diameter. swerve-template Basic code to get a drivetrain up and running with minimal code changes GitHub: Swerve Drive Specialties is excited to release our next swerve module iteration, the MK4 module. The swerve drive specialties modules are the best cots swerve available. The MK4c is a corner-biased, non-inverted swerve module. swerve-template Basic code to get a drivetrain up and running with minimal code changes GitHub: https://g Hi, Do we know when SDS is going to be releasing a new code for the 2023 season? Our attempt at defining an SDS MK4 Two piece cover designed for the SDS MK4i Swerve Modules. You probably don’t need all 8 bolts per module. Weight: 0. SDS MK4i Chassis. The MK4i is the flipped motor, corner biased version of the MK4 module. Mount 45t Bevel Gear with 6 #10-32 X . MK4 CAD: SDS MK4 Swerve Module, Falcons, L1. The A swerve drive base code using SDS MK4 Modules, Neos, and SRX Mag Encoders. Wheel, Colson, 4"OD x 1. SDS MK4i Swerve Modules The MK4 is an upgraded version of our popular MK3 module. 00 MK4c Swerve Module The MK4 module is available with the appropriate pinion kit for any of the above motors. Is the MK4 or MK4i the better choice? Pros and cons to both? Also, does anyone have contact information for SDS? I have reached out through the website and through here but haven’t had any luck contacting anyone. That layout is for the 1" width billet wheel. Skip to content. For instance, earlier MK4 Swerve Modules had a 9mm-wide steering belt (currently 1 5mm), an d some setups may have a V1 or V2 Intermediate Shaft (currently V3). am-5240a. Search. I also have a temporary machine operator coming onboard later this month to help stock up for the A navX should be plugged into the roboRIO MXP port. will distribute Swerve Drive Specialties’ popular swerve modules beginning this summer. 5” ID Bearing and Wheel Spacer on 45t Bevel Side, insert . Cart (0) Check Out Menu. Overall height and center of gravity are lower. MK4 product page (estimated to begin shipping August of 2021). I've also heard the WCP Swerve X are good. x_t SDS MK4 Swerve Module, Falcons, L1. Choose what type of motors you plan to use, what gear ratio you would like, and if the Billet wheel is included. SDS MK4/4i Parts Matrix. 00 – $491. Also, is it possible to simply buy the distinct gears New for later summer 2023, this wheel combines the competition-proven robustness of the Colson Performa Wheel with a custom hub for seamless integration into the MK4 and MK4i Swerve Modules. From $325. 5" wide Billet Wheel. 00 The last 36 hours has been really productive. I have Characterized my SDS MK4 chassis byt locking the wheels and using the sysid tool. 00 MK4c Swerve Module. 8:1 (SDS MK4 Steering Ratio) which means the rotor spins 12. The MK4i module moves the motors to a lower position where they are out of the way and better protected. PHRED is excited to begin implementation of swerve drive for our 2024 FRC robot. We’ve previously run the following in testing: SDS Mk4 SDS Mk3 WCP Swerve X flipped corner config WCP SS Falcon WCP SS Original While all modules have performed well in our testing, we really appreciate the advantages the Mk4i modules brings, most of which have been mentioned Check this spreadsheet for current lead times. SDS 4 in. 5" wide drivetrain). Main reason we went with it this season was because we had originally bought mk3s with the fast gearing and then bought the mk4 upgrade kits later. Many of you should have received shipping notifications. $274. Pathplanner support is currently being removed for my own auto implementation. If we already had Mk4 modules, would this Mk4i upgrade kit come any faster? Swerve Drive Specialties MK4 to MK4i Conversion kit. Swerve Drive Specialties is excited to release our next swerve module iteration, the MK4 module. We’re concerned how easily the falcons Check this spreadsheet for current swerve module lead times. It lasts much longer than blue nitrile while still offering excellent traction. 5"W Billet Wheel. x_t; SDS MK3 Swerve Module, NEOs, LG. 875 Spacer SDS MK4 Spacer & Shaft Kit V3. We will be working on the MK4i Assembly manual over the next month. Below is the position of the MK4 tread holes for 3-ply blue nitrile tread. The MK4 features a 1. Our team is looking at switching to swerve this fall, and the SDS modules are a strong contender. Onshape Good luck with the rest of the season. I was reading through the product page, and noticed something about how we’d have to either cut the motor shafts shorter or purchase an additional part (their motor spacers) because the motor shafts are too long. 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. MK4i, CANCoders, NEO - Swerve Offset Issues. Spark Max motor controllers for the drive motors are: powered using 40 Amp PDP ports and breakers controlled with CAN Bus Hey there! I’m working with an SDS mk4 swerve drive, and one of the turning motors (a NEO 1. 13 Pounds Material: 6061-T6 Aluminum Finish: As Machined Swerve Drive Specialties is excited to release the MK4i module. This results in the smallest footprint SDS module yet. 20 mm . Use 364's The MK4 Swerve Module is the latest swerve drive iteration from SDS. From $300. STEP SDS MK4 Swerve Module. Because the wheel is moved into an area the frame would typically occupy, the MK4i includes Ran L4 this season. Compact drivetrains (accommodates a flat mounted FRC battery in an 17. While all modules have performed well in our testing, we really appreciate the advantages the Years has our team been planning to switch to a swerve module powered by two brushless motors. Material: Black Neoprene The actual size is approximately 11"L x 1. 821 lbs: WCP-1701: Swerve Drive Specialties is excited to release our next swerve module iteration, the MK4 module. Oblarg December 23, 2021, 7:21pm 122. 875 Between the Main Plate and Motor Plate Quantity: 4 Please note this kit does not include: The motor-specific spacers, which can be With custom hubs, this offering from SDS has competition-tested performance combined with seamless integration into the MK4 and MK4i Swerve Modules. The steps include mounting components like bearings, gears, pulleys, and motors. Triple Helix used our 130W laser cutter to cut the components of the tread tools from 1/4″ Delrin sheet. 00 MK4i Swerve Module. SDS MK4i Swerve Modules. 15. STEP; SDS MK4 Swerve SDS MK4n Swerve Modules. A similar design would work for most treaded wheels of this size. I was wondering what the differences are between them besides First off - SDS is absolutely one of the best quality modules out there, along with the Rev ones. General Forum. It's abandoned and buggy. This kit is for those who already own MK4 modules and would like to convert them to MK4i modules. Setting up module offsets Now that we have code running on the robot, we can set up our module steering offsets. 5"W (MK4/4i/4n) From $18. The MK4n is a narrow version of the SDS MK4i module. 00. The SDS MK4 modules are also the same price as the Thrifty swerve (Though the Thrifty swerve is more similar to the MK4i), at $300. The MK4c incorporates: MK4 Module Assembly Guide Page 6 swervedrivespecialties. We are planning to update the SDS swerve-lib for 2022 and to include the MK4i module. All the parts are now being produced for the 15mm width belts. Mid November orders will be shipping shortly. thatnameistaken January 20, 2024, 9:30pm the only extra screws needed are only sold in a screw kit by SDS that includes every screw for a MK4. 00 Bearing, 688ZZ. MK3 CAD: SDS MK3 Swerve Module, NEOs, LG. This kit contains the shafts and common spacers used in the MK4 swerve module. 00 SDS MK4n Motor Plates. Last season, we were experiencing some extremely frustrating inconsistencies with our swerve drive, most specifically with our autonomous repeatability. swerve-template Basic code to get a drivetrain up and running with minimal code changes GitHub: https://g We’d like to swap for an MK4 in order to get a wider collection system while keeping it inside the frame and between the swerve modules. - Includes a set of 4 upper and 4 lower covers (Enough for 4 MK4i modules) - Compatible with all FRC Legal Brushless Motors - All required mounting hardwar The max swerve code template works right away too and is very easy to set up. Sort by. To accommodate the new wheel the MK4 uses our new Swerve drive is amazing and between SDS’s sample code and all the new stuff in wpilib library, I can see every team in the competition using swerve as the base within a few years. Box of bearings Kitting modules Modules in their induvial boxes. Steering encoders (analog US digital MA3) are connected to the roboRIO analog input ports. Hi! Over the fall and into build season, we’ve been working on developing code for a swerve base using SDS MK3 or MK4 modules. SDS MK4 Swerve Module. 75:1) were the most preferable options for a full-weight FRC robot, but we don’t know which to go for between those two. This kit contains the shafts and common spacers used in the MK4 swerve module: Column, Center Supports the Double Gear Quantity: 1 Shaft, Intermediate (V2 or V3, and e-clip). 00 SDS Colson Wheel. 00 – $635. Overall height and center of gravity of the swerve My team has used MK4 swerve modules from SDS for the past 2 or 3 years, they have been good as far as I know. Our team is debating between MK4 and MK4i modules and the MK4i looks to be more durable because of the design and material but the MK4 looks like it is easier to swap out Swerve Drive Specialties is excited to release the MK4c Swerve Module. $44. If you haven’t yet, there are still a few orders that will be going out in the next couple days. If you use threadlocker you can likely get away with 4 per module. 5" width Billet Wheel. 509 Alex_Y March 27, 2022, 3:19pm 77. IthcyPrince April 12, 2022, 5:27pm 1. SDS Colson Wheel. Aside from that I think there are one or two changes you have to make to the code to update it to 2022 which are really simply. PatrickW January 4, 2023, 1:22am 136. Regular price $4. plusparth December 8, 2021, the MK4i starts to make less sense when compared to the MK4. wrueter March 19, 2022, 7:00pm 139. I made it using 3/8" thick polycarb, because we had a scrap piece of about this size These jigs reproduce the hole spacing for black neoprene and blue nitrile tread material shared by SDS’s Patrick Woolfenden here; treads prepared using these tools install tightly on the nominal 4″ diameter x 1. I think you have the MK4 remember to assemble them properly take great car during there assembly follow every instruction in the assembly Manual or video put Assembly of the SDS MK4i Swerve ModuleIMPORTANT: This video is for reference only, so please refer to this Assembly Guide for the latest instructions: https: Swerve Drive Specialties is excited to release our next swerve module iteration, the MK4 module. This kit is for those who already own MK3 modules and would like to upgrade them to the wider wheel used on the MK4 Swerve Module. Modules are in stock and ready to ship. Stock Status Ask about this product Share. In order to prevent these types of failures the MK4i module introduced the upgrade to a 15mm width steering belt and in December of 2021 all MK4 modules started shipped with the wider belt and associated toothed pulleys. Example code for a swerve drivetrain using the SDS Mk2 swerve modules with NEO motors If you have already ordered a module from Swerve Drive Specialties (SDS) directly, check this spreadsheet for your estimated ship date: Swerve Module Lead Times AndyMark is proud to offer the most popular swerve drive solution on the market today. Great for getting around defense but it destroys the blue nitrile tread (as expected). Parts Included: 1 - Center Column1 - Intermediate Shaft1 - Steering Shaft 1 - Wheel Spacer4 - 0. Whenever I’m If it endlessly crashes at startup make sure your CAN IDs are properly set and make sure you are using the proper swerve module configurations for your hardware. 8 times to complete one mechanism rotation. A recommendation for how many spare bearings we should get would be nice if your team has a set number of spares they get. FIRST. Price: USD 185. Hey, we just started this year with the MK4 module from SDS and couldn’t be happier with it. 12 Likes. am-5564 $90. TDM465 @TODDMILLER_870953 Follow Following. I have added some code to make the drivetrain consume Wheel Mount B for use on the MK4 swerve modules. We are also offering individual MK3 parts and a MK2 to MK3 upgrade kit. The modules are Our team is going to be working on a Swerve Drive Specialties MK4/MK4i swerve drivetrain this offseason. For extended wear life and simplified replacement, check out the Colson Wheel setup. If the Thrifty swerve is compatible with Cancoders, I would personally love to use it as it seems super great mechanically and at a very competitive price. MK4 vs MK4i Swerve Drive. Protect internals from debris and carpet fibers and keep any unwanted items free from spinning gears. The MK4 features our 1. Which brings me to my question. Swerve Drive Specialties is excited to release the MK4i module. The smaller 550 as a turning motor doesn't seem to make a huge difference in the performance of the robot, and the modules themselves are way cheaper than the SDS swerve modules. 00 Swerve Drive Specialties is excited to release the MK4i module. 5″ wide MK4 swerve wheel. $365. The bearings were received and we started boxing things up. 00 – $65. Because of the 50% increase of width from previous generations you get greater tread life and slightly better traction. Billet wheels are separate. The codebase works for both teleoperated control as well as Place a Swerve X2 order between now and kickoff and you will get 2 free sets of High Grip Molded Tread. Hey @PatrickW, my team is looking at purchasing a set of SDS MK4 modules (NEO version) and we like the L2 gearing option but it appears to be sold out currently The MK3 is fully configurable from Swerve Drive Specialties. x_t SDS MK4 Swerve Module, Falcons, L2. 1) has a slipping pinion gear. 00 Bearing, F689ZZ. The MK4 module is available with either NEO 8mm bore pinion gears, or Falcon 500 spline bore SDS MK4 Swerve Module. Here is Hey everyone, my team is trying to buy some SDS MK4 swerve modules WITH NEOS before summer, but we don’t know which gear ratio level to go for. SDS MK4c Swerve Modules. $45. 00 SDS MK4c/4i/4n Screw Kit. SDS MK4c Pinion Kits. Due to CANCoder, we can no longer use SysId identification routines directly. The MK4i module also moves the wheel further into the Next hurdle. STEP; SDS MK4 Swerve Module, Falcons, L2. We heard that L1 (8. Drives the 15T The document provides assembly instructions for an MK4i Swerve Module in 12 steps. We are also MK4i L2 and absolutely love them. $325. It’s enough to make the tread holes not line up perfectly if the lengths from that drawing are used. There are multiple options available that are compatible with the SDS Swerve Drive Specialties L2 swerve system and NEO motors, such as the Rev Robotics Through Bore Encoder (around $40) and the CTRE Cross The Road Electronics Mag Encoder (around $70). This is entirely my fault, due to pressing and taking off the pinion multiple times, but I’m now trying to find a solution. My team is considering buying new mk4 SDS swerve modules for this season (we’ll be testing them in this off-season) but we can’t decide between neo’s or falcons for the module, we generally have more experience with Neos as we Whereas the key advantage to SDS at the moment is its been on the market longer (so it’s proven over several seasons to be reliable), and has a larger wheel diamater + ground Assembly of the SDS MK4 Swerve ModuleIMPORTANT: This video is for reference only, so please refer to this Assembly Guide for the latest instructions: https:/ Swerve Drive Specialties is excited to release the MK4n module. Paul_Copioli April 13, 2022, 1:11am 23. I’m looking to “borrow” a team’s 2024 code to reference and test on our robot to see if it’s somehow our code having the issues, or if we are having a Next, you’ll need to consider encoders for your swerve system. bdaroz: We checked the product page at the time (and just now) and It didn’t list the extra 8mm ID spacer - just the screws. Redux Robotics Introduces the Helium Canandcoder. The MK4n Swerve Module leverages the proven MK4i architecture into a new form factor. com Step 3: Wheel Assembly The MK4 Module uses the 4"D X 1. Featured Products; Swerve Modules MK4 Parts. 5"W. Fully working and updated for 2023. com MK4i CAD: SDS MK4i Swerve While it is fairly uncommon, I have seen 9mm width steering belts fail before. 75 Button Head Screws. Designed for our 2023 Robot, Continuity, that features a elevator and grabber combo. It recommends applying threadlocker to bolts except those for the encoder, and lubricating gears with white lithium grease after assembly. I expect the lead time to shorten greatly in the next couple of weeks as my time will be fully dedicated to SDS. 00 Kit, Conversion, MK4 to MK4c Home › Swerve Module Kits Swerve Module Kits. Colson Performa Wheels have been use Swerve Drive Specialties is excited to release the MK4i module. $22. $18. 0 reviews . Bearing, 6802ZZ. 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. Second - software wise, don't use the SDS software. 14:1) and L2 (6. The result is a setup that provides extended wear life and a simplified replacement process. I have code based on the SDS Swerve template. New for later summer 2023, the SDS Colson Wheel combines the competition-proven robustness of the Colson Performa Wheel with a custom hub for seamless integration into the MK4 and MK4i Swerve Modules. This billet aluminum wheel is designed to be used with SDS We ran the SDS Mk4i L2 this season and absolutely love them. vargoose84: I BELIEVE the PIDs run at a faster refresh rate then The MK4i module inverts the motors on an MK4 module to a lower position where they are out of the way and better protected. If you want a different quantity of the A and B layouts, indicate it in the Cart's Special Instructions field. From $365. MK4i Product Page on swervedrivespecialties. Slightly thicker with more zip-tie locations and top screw access holes. $41. Those are configured after code is deployed. More information on the MK4 Swerve Module can be found on the MK4's product page. The MK4c occupies a 4” X 4” area measured from the inside edge of the chassis. I was wondering what chassis other teams have come up with for the MK4i modules. ; Orders with This kit contains the common spacers used in the MK4 swerve module: Spacer, 0. $35. We are considering doing swerve drive next year for our robot and so far we’ve narrowed it down to either the MK4i or the Swerve X in the corner configuration. 196 x 0. 00 Rhino Precut and drilled tread for the SDS 4"D X 1. Regular price $5. 00 Quantity-+ Add I just copied the com folder into my project’s Java folder. We are currently using a custom swerve powered by falcon and 775 with an unswappable gear ratio, which is too old, Billet wheels are only available with Black Neoprene tread. Tinnittin October 22, 2021, 6:07pm 64. Our team has now fully proofed building, driving, and programming SDS MK4 Swerve and feel we can use it in the 2022 season. Similar question @PatrickW: The website says new swerve module orders won’t come until September. x_t SDS MK4 Swerve Module, Falcons, L3. Regular price $3. Each encoder has its advantages he MK4i module moves the motors to a lower position where they are out of the way and better protected. 5"W Billet Wheel from SDS. The MK4c combines the non-inverted motor layout of the MK4 module with the corner bias of the MK4i module. Contribute to team294/swerve-template development by creating an account on GitHub. 1 Like. CAD & DRAWINGS; RATIO TABLE; VIDEOS; P/N: Description: Material: CAD: Onshape: Drawings: Weight: WCP-1701: WCP Swerve X2 (Tube Mount)-STEP: Link: PDF: 3. Technical Discussion. 313 x 1. PatrickW September 15, 2021, 4:19pm 42 @ToddF This is the way that we (2910) mount swerve modules to the frame and how I would recommend Weaker steering motor (idk how much of a difference it actually makes) SDS MK4/MK4i. Before setting up module My team is planning to purchase a set of SDS MK4 swerve modules (the NEO version). With Jacob @Kaboomboom3 and I are excited to release Java code for the Swerve Drive Specialties MK3 and MK4 modules. If you are going to mount the frame and motors on top, the MK4i starts to make less sense when compared to the MK4. Specific configurations are provided for Falcon 500 and NEO Swerve Drive Specialties. Thanks to a generous grant from the Philomath High School Booster Club, the team was able to purchase 4 SDS MK4i swerve modules. Insert . The durable co-injection molded construction Swerve Drive Specialties. CANCoder on SDS MK4. SDS MK4 Swerve Modules. In order to do this we must have our encoder values displayed to the dashboard. GitHub - frc4206/BaconSwerve-SDS-MK4: Swerve code using a Pidgeon gyroscope and SDS MK4 modules using all falcons. 00 – $570. 0. Motor-specific spacers can be purchased as part of the motor pinion gear kits. am-5513 SDS MK4 Swerve Modules. Sort by MK4 Swerve Module. We highly recommend this tread material. The following additional parts (not included in the conversion kit) will bring the converted swerve module to the current MK4i Swerve Module setup: My team is considering buying new mk4 SDS swerve modules for this season (we’ll be testing them in this off-season) but we can’t decide between neo’s or falcons for the module, we generally have more experience with Neos as we have mostly used them for the past 3 years and have rarely used falcons. What do people think about the ground clearance with the MK4i modules? I know that the wheel axle is at the AndyMark and Swerve Drive Specialties (SDS) are pleased to announce an agreement where AndyMark, Inc. I attempted to use loctite, and it worked for about a week, until we did some full-power testing, which caused it to come loose. Colson Performa Wheels have been used extensively in For this example we will assume the gear ratio is 12. The modules are the same height at this point and you are trading off module footprint for . 00 Don't configure the *_MODULE_STEER_OFFSET constants yet. 00 – $536. The MK4c combines the non-inverted motor layout Unless you specify: Orders with an even number of MK4n Swerve Modules will receive an equal number of A and B layouts. The L1, L2 and L3 gear ratios are the same between the MK4 and MK4i, so you could use MK4i’s on some corners of the robot and MK4’s on other corners of the robot. Is this only for the Falcon500 version, or would we have to do This code was designed with Swerve Drive Specialties MK3, MK4, MK4i, and WCP SwerveX style modules in mind, but should be easily adaptable to other styles of modules. SDS: MK4: Falcon 500: Tested: Untested: SDS: MK4i: Kraken X60: Untested: Untested: SDS: MK4i: Falcon 500: Tested: Tested: Changelog. Picture shows V1 shaft. SDS Gear Ratio Kits. The MK4 is an upgraded version of the MK3 module offered at an even better price. Tread comes pre-installed. 3× print file . This let me remove all references to rev in the swerve lib code that was preventing me from using Neo’s elsewhere on the robot. SDS Mk4 SDS Mk3 WCP Swerve X flipped corner config WCP SS Falcon WCP SS Original. 6 Likes. Our team is going to be working on a Swerve Drive Do-not-use-Example-Swerve-unmaintained Public template . csj1232 September 15, 2021, 3:43pm 41. ADD TO CART. Overall height and center of gravity are therefore lower. After two tournaments and some extensive practice we just ran into MK4 Swerve Module. Most early November orders have shipped. Log in Sign up. 00 MK4n Swerve Module. Same frame-to-floor height as the MK4, MK4i, and MK4n Swerve Modules; Same L1+, L2+, and L3+ drive ratios as the MK4n, as well as the MK4i Swerve Module equipped with the 16T Drive Pinion Gear Adapter Kit SDS MK4 Swerve Modules. Technical. Brass Flywheel. Customers will be able to preorder by @Kbrady We are still operating at about a 3 week lead time. This module now ships with black neoprene tread (blue nitrile is pictured), which extends the tread life even further. I’d recommend sourcing those locally if you don Template code for SDS MK3, MK4, and MK4i modules. 00 SDS MK4n Main Plates. 1/4/24: Updated Phoenix to Phoenix 6 - 24. STEP; SDS MK4 Swerve Module, Falcons, L3. 99. $300. Thats for blue nitrile, however Patrick has said that black neoprene needs different hole spacing I designed this tread jig back in February of 2022 for our SDS Mk4 modules. swerve. 00 SDS Please do not use that tread drill layout for the MK4 wheels. 11h 30m . More expensive; Tried and true/evolved over several seasons; More powerful steering motor (idk how much of a difference it actually makes) At the district competitions here in FMA, the vast majority of swerve drives were SDS Swerve Drive Specialties Mk4i SDS Mk4i Swerve module covers . Now that we have code running on the robot, we can set up our module steering offsets. Please note: Because the bevel gears used on the MK4 and MK3 My team is new to swerve and I was interested to hear teams’ expirences with the swerve bearings and how durable they are and how often they need to be replaced if at all. PatrickW December 1, 2021, 7:31pm 99. 375” ID Bearing on opposite side. Jacob @Kaboomboom3 and I are excited to release Java code for the Swerve Drive Specialties MK3 and MK4 modules. enmkk cymnli jlshe xtx cektv vqu rjp nus unnbpye kuygz