########
Hardware
########

Having a good swerve starts with having good hardware. Here is a summary of 
potential swerve hardware you might use. 

Modules: 
********

Swerve Drive Specialties:
=========================

- `MK4 Module <https://www.swervedrivespecialties.com/products/mk4-swerve-module>`_

  - Cost (not including motors): $300-310 USD

  - Weight (with motors): 2.2 kg (Neo), 2.4 kg (Falcon)

  - Notable Features: Very robust and used widely among FRC teams

- `MK4i Module <https://www.swervedrivespecialties.com/collections/kits/products/mk4i-swerve-module>`_
  
  - Cost (not including motors): $365 USD
  
  - Weight (including motors): 2.7 kg (Neo), 2.9 kg (Falcon)
  
  - Notable Features: Compact, robust, and popular among FRC teams

.. list-table:: 

    * - .. figure:: ../Photos/Hardware/MK4.webp
            :alt: MK4 Swerve Module Image
            :target: https://www.swervedrivespecialties.com/collections/kits/products/mk4-swerve-module
            :scale: 30%

            MK4 Swerve Module

      - .. figure:: ../Photos/Hardware/MK4i.webp
            :alt: MK4i Swerve Module Image
            :target: https://www.swervedrivespecialties.com/collections/kits/products/mk4i-swerve-module
            :scale: 30%

            MK4i Swerve Module

West Coast Products: 
====================

- `Swerve X <https://wcproducts.com/products/swerve-x>`_

  - Cost (not including motors): $305-325 USD

  - Weight (not including motors): 1.2-1.6 kg (depends on the model)

  - Notable Features: Very configurable, many different options to choose from

.. figure:: ../Photos/Hardware/SwerveX.webp
    :alt: Image of possible Swerve X configuration
    :target: https://wcproducts.com/products/swerve-x
    :scale: 45%

    Possible Swerve X Configuration

REV Robotics: 
=============

- `MAXSwerve <https://www.revrobotics.com/pre-order-rev-21-3005/>`_

  - Cost (not including motors): $300 USD

  - Weight (including motors): 1.7 kg (Neo), 1.8 kg (Falcon)

  - Notable Features: Incredibly small and lightweight

.. figure:: ../Photos/Hardware/MAXSwerve.webp
    :alt: Image of MAXSwerve
    :target: https://www.revrobotics.com/pre-order-rev-21-3005/
    :scale: 25%

    MAXSwerve Module

Homemade Swerve:
================

- Your Imagination

  - Cost: time and money

  - Weight: n/a

  - Notable Features: You can customize it any way you want

Sensor Customization
********************

Rotor Encoder
=============

FRC teams often use the `CTRE CANCoder <https://store.ctr-electronics.com/cancoder/>`_
for measuring the angle of the rotor. It is a great sensor but it can be a bit expensive. 
Thus, teams with a tighter 
budget can consider using the `Thrifty Absolute Magnetic Encoder 
<https://www.thethriftybot.com/bearings/Thrifty-Absolute-Magnetic-Encoder-p421607500>`_. 
This encoder uses the same mount as normal CANCoders, but comes at a much cheaper price. 

.. list-table:: 

    * - .. figure:: ../Photos/Hardware/CANCoder.webp
            :alt: CANCoder Image
            :target: https://store.ctr-electronics.com/cancoder/
            :scale: 20%

            CANCoder

      - .. figure:: ../Photos/Hardware/TTBEncoder.jpg
            :alt: Thrifty Absolute Magnetic Encoder Image
            :target: https://www.thethriftybot.com/bearings/Thrifty-Absolute-Magnetic-Encoder-p421607500
            :scale: 45%

            Thrifty Absolute Magnetic Encoder

IMU
===

Additionally, teams must have an IMU on the robot to measure the angle of the robot. Popular 
IMU choices include the `Pigeon <https://store.ctr-electronics.com/pigeon-2/>`_ and 
`navX <https://www.andymark.com/products/navx2-mxp-robotics-navigation-sensor>`_ IMUs. 

.. list-table:: 

    * - .. figure:: ../Photos/Hardware/navX.jpg
            :alt: navX2 image
            :target: https://www.andymark.com/products/navx2-mxp-robotics-navigation-sensor
            :scale: 70%

            navX2 IMU

      - .. figure:: ../Photos/Hardware/Pigeon.webp
            :alt: Pigeon2 image
            :target: https://store.ctr-electronics.com/pigeon-2/
            :scale: 20%

            Pigeon2 IMU