The 3in MAXSwerve Module is the smallest and lightest swerve module designed for FRC Teams. Leveraging many parts of the REV ION System, MAXSwerve aims to reduce the complexity traditionally associated with swerve drivetrains. The module features a 3in wheel to ensure that your wheelbase is as wide as possible within your robot footprint. Designed with robustness and serviceability in mind, the module features an all-metal construction with steel drive gears. The rotation (azimuth) is gear-driven from our NEO 550 Brushless Motor through an UltraPlanetary Gearbox. The included Through Bore Encoder provides 10-bit angular resolution directly on the turning axis. While the azimuth must be driven with a NEO 550 and SPARK MAX Motor Controller to take advantage of new software features, teams can use either a NEO Brushless Motor or Falcon500 for the main drive motor. These modules work seamlessly with the MAXTube structural pieces, however they are designed to work with any 2x1in aluminum tubing.

Each module comes with all the gears for 3 different robot speeds:

Pinion	Gear Ratio	Drive Free Speed (NEO): ft/sec
12T	5.50:1	13.51
13T	5.08:1	14.63
14T	4.71:1	15.76

New software features available before Kickoff:

NEW firmware available for the SPARK MAX that enables absolute encoder input, allowing for closed-loop control of the module on the motor controller itself.
Using the included physical calibration tool, calibration values can be saved to the SPARK MAX, making modules interchangeable without updating robot code.
NEW APIs in REVlib for swerve functions.
NEW features in the REV Hardware Client for calibration and configuration of your robot drivetrain.

Motors, motor controllers, and structural framing not included, but can be added to complete a fully-functioning swerve drivetrain. Check out our MAXSwerve Bundles for more options - Coming Soon!

REV Robotics would like to thank FRC Team 3005 - RoboChargers for the help in developing this product. The module is based off their design used during the 2022 FRC season.

Features

Metal construction
3in wheel diameter
Module mounting maximizes wheelbase footprint
Compatible with NEO Brushless Motor or Falcon 500 (with replacement shaft)
Azimuth driven by NEO 550 Brushless Motor & UltraPlanetary Gearbox
All steel gears in drive powertrain
Gear-driven azimuth drive

Specifications

Azimuth Ratio: ~46.42:1 (Exactly 9424:203)
Height:

With NEO: 171.5mm (6.75in)
With Falcon: 194.4mm (7.66in)

Footprint:

With mounting tabs: 133.1mm x 133.1mm (5.24in x 5.24in)
Without mounting tabs: 100.5mm x 100.5mm (3.96in x 3.96in)

Weight:

With NEO: 1720g (3.80lb)
With Falcon: 1800g (3.97lb)

Kit Contents

SKU	PRODUCT NAME	QUANTITY
REV-21-3005-P01	3in MAXSwerve Module - Bottom Plate	QTY 1
REV-21-3005-P02	3in MAXSwerve Module - Top Plate	QTY 1
REV-21-3005-P03	3in MAXSwerve Module - Steering Gear	QTY 1
REV-21-3005-P04	3in MAXSwerve Module - Active Fork	QTY 1
REV-21-3005-P05	3in MAXSwerve Module - Passive Fork	QTY 1
REV-21-3005-P06	3in MAXSwerve Module - Bevel Pinion	QTY 1
REV-21-3005-P07	3in MAXSwerve Drive - Wheel Bevel Gear	QTY 1
REV-21-3005-P08	3in MAXSwerve Module - Steering Pinion 14T	QTY 1
REV-21-3005-P09	3in MAXSwerve Module - Low Speed Pinion 12T	QTY 1
REV-21-3005-P11	3in MAXSwerve Module - Drive Spur Gear	QTY 1
REV-21-3005-P12	3in MAXSwerve Module - UltraPlanetary Block	QTY 1
REV-21-3005-P13	3in MAXSwerve Module - Encoder Bridge	QTY 1
REV-21-3005-P15	3in MAXSwerve Module - Wheel Hub	QTY 1
REV-21-3005-P18	3in MAXSwerve Module - Wheel Axle	QTY 1
REV-21-3001	3in MAXSwerve Module Spacer Pack	QTY 1
REV-21-3000	3in MAXSwerve Module Hardware Pack	QTY 1
REV-21-2999	3in MAXSwerve Module Bearing Pack	QTY 1
REV-21-3005-P22	3in MAXSwerve Module - Mid Speed Pinion 13T	QTY 1
REV-21-3005-P23	3in MAXSwerve Module - High Speed Pinion 14T	QTY 1
REV-21-3005-P10-PK3	3in MAXSwerve Module - Motor Key	QTY 1
REV-21-3004	3in MAXSwerve Wheel - 90A	QTY 2
REV-22-2997	3in MAXSwerve - Calibration Tool	QTY 1
REV-21-2998	3in MAXSwerve - SPARK MAX Mounting Bracket	QTY 1
REV-41-1607	UltraPlanetary HD Hex Mounting Plate	QTY 1
REV-41-1601	UltraPlanetary Cartridge - 3:1	QTY 1
REV-41-1602	UltraPlanetary Cartridge - 4:1	QTY 1
REV-41-1608-PK2	UltraPlanetary 550 Motor Pinion Gear - 13 Tooth - 2 pack	QTY 1
REV-11-1271	Through Bore Encoder	QTY 1
REV-11-3326	Absolute Encoder Adapter	QTY 1
REV-11-3327	15cm JST PH 6-pin Extension Cable	QTY 1

Notes

Keep in mind that the molded wheels are consumable items. Their lifespan depends on a variety of factors such as driving style, robot weight, and defense against your robot. When preparing for your event, regularly check your wheels before matches and have spare wheels on hand for any situation that may arise.