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Add Team 2890 L1/L3 gear setup and gear ratio table image

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- L1: ~14.4 ft/s, L3: ~12.8 ft/s (NEO Vortex)
- Field-swappable based on game strategy
- Gear ratio diagram image added
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MrC
2026-05-04 02:04:08 +00:00
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sources/2890/swerve-modules.md
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@@ -38,6 +38,19 @@ Team 2890 uses the **Swerve Drive Specialties MK4i** swerve module. This is the
L1 and L2 are recommended for standard FRC robots. L3 is for lightweight builds only.
### Team 2890 — L1 and L3 (Field-Swappable)
Chris's team runs **L1 and L3 gear sets**, both driven by NEO Vortex motors. Gears swap in the field to change the drive ratio per event or strategy.
| Ratio | Stage 1 | Stage 2 | Stage 3 | Free Speed (Vortex) |
|-------|---------|---------|---------|---------------------|
| **L1** | 15T/22T | 20T/26T | 26T/36T | ~14.4 ft/s |
| **L3** | 15T/22T | 20T/26T | 26T/36T | ~12.8 ft/s |
**L1 = faster, less torque.** **L3 = more torque, slightly slower.** Swap based on game demands — L1 for high-speed defense, L3 for climbing/pushing.
*(Gear ratio diagram: `mk4i-gear-ratios.png`)*
## Connection to Training
**For students learning swerve:** This module uses a 1/2" hex output shaft. Understanding hex shafts and how they transfer torque is fundamental mechanical knowledge. Students should also understand:
@@ -46,7 +59,7 @@ L1 and L2 are recommended for standard FRC robots. L3 is for lightweight builds
- How the belt drive multiplies torque from motor to wheel
**Related training modules:**
- [[motor-basics]] — understandingKv, torque, current relationships
- [[motor-basics]] — understanding Kv, torque, current relationships
- [[frc-drivetrain-training]] — swerve kinematics and control
- [[2890-codebase-index]] — how the code configures these modules
@@ -58,4 +71,4 @@ L1 and L2 are recommended for standard FRC robots. L3 is for lightweight builds
## Notes for MrC
Chris uses these modules with NEO Vortex motors and SPARK Flex controllers. The full stack is: **MK4i + NEO Vortex + SPARK Flex + YAGSL**. The YAGSL library (Yet Another Gyro Library) handles the swerve math and motor control in code.
Chris uses these modules with NEO Vortex motors and SPARK Flex controllers. The full stack is: **MK4i + NEO Vortex + SPARK Flex + YAGSL**. The YAGSL library (Yet Another Gyro Library) handles the swerve math and motor control in code.