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Module 1 — Drivetrain Foundations

Objective: select and size the drivetrain for the game and team resources.

Prereqs: Game analysis, field constraints.

Steps

  • Compare KOP, WCD, and swerve for required mobility and defense.
  • Choose wheel size/type, gear ratio, motor count; estimate current draw.
  • Confirm frame perimeter and bumper plan.
  • Check clearance for wiring, chain/belt runs, and bumper mounts.
  • Decide on encoder placement (integrated vs external) and mounting provisions.

Instructions (numbered)

  1. Define drivetrain goals (speed, accel, defense tolerance) from game analysis.
  2. Compare KOP/WCD/swerve options against goals and team resources.
  3. Pick wheel type/size, gear ratio, motor count; estimate current draw.
  4. Lay out frame perimeter and bumper plan; check chain/belt/wiring clearances.
  5. Decide encoder strategy (integrated vs external) and mount locations.
  6. Draft BOM with lead times; document rationale.

Example

  • 4-module swerve, 3" wheels, 6.75:1 ratio, NEOs; est 40A/module; frame 26x26, bumper-compatible.

Best practices

  • Use past proven configs unless the game demands change.
  • Size ratios for acceleration, not just top speed; sanity check current draw.
  • Leave service access for modules and wiring.

Common mistakes

  • Over-gearing and brownouts.
  • Ignoring bumper/frame rules; no clearance for chain/belt.
  • No plan for encoder mounting/wiring.

Checklist

  • Goals defined
  • Architecture chosen (with rationale)
  • Ratio/wheel/motors selected; current estimated
  • Frame/bumper layout checked
  • Encoder plan set
  • BOM with lead times

Recommended tools

  • Drivetrain calculator (WCP/JVN), CAD sketch, vendor datasheets, current draw estimator.

Sample log (template)

  • Date:
  • Options reviewed:
  • Decision:
  • Current draw est:
  • Risks:

Photos/diagrams

  • [Placeholder: frame/bumper layout and drivetrain schematic]

Deliverables

  • Drivetrain decision with ratio, wheel type/size, BOM, and rationale.
  • Sketch of frame and bumper layout with wheelbase/trackwidth noted.

Resources

  • SDS: swervedrivespecialties.com
  • REV MAX Swerve: docs.revrobotics.com/drive/maxswerve
  • 6328 drivetrain guide: github.com/Mechanical-Advantage/RobotBuilder