From db7976467ceed0f28759d5141b0ac68cf2ca82f1 Mon Sep 17 00:00:00 2001 From: MrC Date: Mon, 4 May 2026 02:04:08 +0000 Subject: [PATCH] Add Team 2890 L1/L3 gear setup and gear ratio table image - L1: ~14.4 ft/s, L3: ~12.8 ft/s (NEO Vortex) - Field-swappable based on game strategy - Gear ratio diagram image added --- sources/2890/mk4i-gear-ratios.png | Bin 0 -> 49776 bytes sources/2890/swerve-modules.md | 17 +++++++++++++++-- 2 files changed, 15 insertions(+), 2 deletions(-) create mode 100644 sources/2890/mk4i-gear-ratios.png diff --git a/sources/2890/mk4i-gear-ratios.png b/sources/2890/mk4i-gear-ratios.png new file mode 100644 index 0000000000000000000000000000000000000000..aa25143790f70cae28aba4dad2fdaa0d66b77d6c GIT binary patch literal 49776 zcmeFYRahNQ6F!K$69^VOxH|-QcXxM(00+0=1a}P%!JVMN-QAtwatJPalHVuEetYrX zyS-SRd6+Zp-P2R`R@K|#it-Z32zUr!U|`5nlA_9BU=TnsFz^L97*GoH}75AzHZXR$3QxS;cuGNU#|EK;m$e$=VKpOEzTUq-OpMM z)?3{7U%>^FEh0rrt9ik!x@Db8n(+B}D3U*Wflms8Q-Q+@n!B)wj&2(I`7fT_xqJD+ 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HcmV?d00001 diff --git a/sources/2890/swerve-modules.md b/sources/2890/swerve-modules.md index 2cf472a..2b57869 100644 --- a/sources/2890/swerve-modules.md +++ b/sources/2890/swerve-modules.md @@ -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. \ No newline at end of file +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.