AndyMark is proud to offer the most popular swerve drive solution on the market today. AndyMark is more than just a passthrough distributer we are offering a bunch of value add features including:
- Every module gets a free injection molded motor spacer saving you time and money during assembly.
- We are a one stop shop where you can buy the modules, motors, encoders all in one place on one order.
- SDS Modules are even valid for use with PDVs!
- We are offering the option to assemble the modules for you so you can hit the ground running
- CANcoders shipping with the assembled version include pre-soldered wires for a true plug and play experience.
The MK4 Swerve Module is the latest swerve drive iteration from SDS. The MK4 features a 1.5 in. wide Billet Wheel. Because of the 50% increase of width from previous generations you get greater tread life and slightly better traction. To accommodate the new wheel the MK4 uses the SDS 2nd Generation bevel gear set. As of December 2023 modules use all "V3" components and are sold with part numbers that end in an "a". See assembly guide for details.
Despite it being one of the most compact and lightweight modules available, the MK4 module does not compromise on robustness. MK4 modules use all steel gears for superior wear resistance. Under typical use and with grease, the modules will be able to handle multiple seasons of robotics competition. In order to keep weight to a minimum, the steel gears are pocketed.
Like the MK3, the MK4 uses a centrally located steering encoder to directly measure steering angle without the use of gears. This eliminates encoder backlash and reduces complexity. The module is specifically designed for the user favorite CTRE CANcoder.
NEO V1.1, Neo Vortex, Falcon 500, and Kraken X60 motors are compatible with the MK4 module. CIM motors are not compatible with the MK4 due to their larger diameter. The MK4i module is available with the appropriate pinion kit for any of the above motors.
The full steering ratio of the MK4 is 12.8:1, passing through one gear pair, then a pulley pair using a 64 tooth belt (am-4921).
The MK4 is available in 4 different drive gear ratios. The table below shows the drive gear ratios and free speeds with NEO V1.1 and Falcon 500 motors. L1 and L2 ratios are the most popular ratios and are suitable for standard full weight competition robots. The L3 ratio is more aggressive and is recommended for light weight robots. The L4 ratio is very aggressive and is only recommended for very light weight mini bots.
The module easily mounts to common 2x1 frame material. The module typically mounts on top of the robot chassis, however, there is also clearance to mount the chassis on top of the module to maximize ground clearance.
