---
type: training-hub
title: "Swerve Training Hub"
description: "Learning path for Team 2890 swerve drivetrain — from motor to autonomous"
status: active
students:
  - bruno
  - riley
related:
  - sources/2890/swerve-modules.md
  - sources/2890/neo-vortex-motor.md
  - sources/2890/spark-flex.md
  - sources/2890/mothman-robot-code.md
  - training/modules/systemcore.md
growth: tree
---

# Swerve Training Hub

## Overview

This hub guides students through the **Team 2890 swerve drivetrain** — from how the motor works to how to program autonomous paths. All content is specific to our hardware: SDS MK4i modules, NEO Vortex motors, SPARK Flex controllers, and YAGSL Java library.

## Hardware Stack

- **Motor** — NEO Vortex (565 Kv, 6784 RPM) → [[neo-vortex-motor]]
- **Controller** — SPARK Flex (60A continuous) → [[spark-flex]]
- **Gearbox** — MAXPlanetary (27 ratios, cartridge-based) → [[maxplanetary-gearbox]]
- **Module** — SDS MK4i (L1/L3 field-swappable) → [[swerve-modules]]
- **CAN Interconnect** — Canjectors (Endz/Minor/Major) → [[canjectors]]
- **Odometry** — CANcoder + YAGSL → [[mothman-robot-code]]

## Learning Path

### Level 1 — Motor and Controller
1. [[neo-vortex-motor]] — how the motor works, Kv rating, stall torque
2. [[spark-flex]] — how the controller drives the motor, PWM vs CAN
3. [[maxplanetary-gearbox]] — why we need gears, cartridge ratios

**Check for understanding:** Explain why a 6784 RPM motor needs reduction to drive a wheel.

### Level 2 — Swerve Modules
1. [[swere-modules]] — how the MK4i module translates rotation into motion
2. L1 vs L3 — when to use each (speed vs. torque)
3. [[canjectors]] — how CAN signals route from roboRIO to each module

**Check for understanding:** Sketch a swerve module. Label wheel, gear train, motor, steering motor, CANcoder.

### Level 3 — Software and Odometry
1. [[mothman-robot-code]] — YAGSL swerve implementation
2. [[systemcore]] — roboRIO replacement coming (understand the platform)
3. [[photonvision]] — AprilTag pose estimation for autonomous

**Check for understanding:** What's the difference between wheel odometry and vision pose?

## Student Progress

- **[[bruno]]** — Level 1-2, in progress (roller coaster + battery box) — last active 2026-05-05
- **[[riley]]** — Level 2-3, strong CAD operator, rebuilding climber — last active 2026-05-05

## Training Resources

- **FIRST Tech Docs** — [YAGSL Documentation](https://github.com/Team2910/YAGSL-Allwpilib)
- **Chief Delphi** — Swerve share thread (tons of student-built robots)
- **SDS MK4i Product Page** — [SDS Documentation](https://www.swervedrivespecialties.com/products/mk4i)

## Prerequisites

- Basic Git usage (for cloning YAGSL)
- Basic Java (for reading/changing robot code)
- Fusion 360 basics (for understanding CAD if doing mechanical track)

## Gaps Detected

> **2890-claw monitoring:** This hub tracks learning path completion. Gaps surface when:
> - A student is stuck on a concept for >3 days
> - A hub link points to a missing document
> - Student profile shows no progress in 7+ days

---

*Hub managed by 2890-claw. Add students, update progress, link new training modules as they're created.*