# MAXSwerve

## MAXSwerve Module Overview

The 3in MAXSwerve Module ([REV-21-3005](https://www.revrobotics.com/rev-21-3005/)) is compatible with the REV ION System, features a 3in Swerve Wheel, and is commonly used in a set of four to build a swerve drivetrain. This module gives a robot the ability to drive forward and backward, side-to-side, and rotate simultaneously without sacrificing traction. The 3in MAXSwerve Module uses the small size and low mass of the [NEO 550 Brushless Motor](https://www.revrobotics.com/rev-21-1651/) and UltraPlanetary Gearbox to save a significant amount of space and weight. 

<figure><img src="https://2800450911-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F4vnkeyE3Rv32OmveFas2%2Fuploads%2FURdNlH4wy2sYom3ghk6Y%2FREV-21-3005-3in1MAXSwerveModule%20EDIT.png?alt=media&#x26;token=d9fb6e83-99c3-47e4-a9a0-bc336bf9612a" alt=""><figcaption></figcaption></figure>

### Greasing Guide

When assembling the MAXSwerve Module we recommend adding grease during assembly and re-applying as needed for the maintenance of your mechanism. For most applications, using [White Lithium Grease](https://www.amazon.com/dp/B06XY6QKS7?ref_=cm_sw_r_cp_ud_dp_P3B2T1TKR60YKSY7R4XA\&peakEvent=4\&dealEvent=1) or [Red Tacky Grease](https://www.amazon.com/Lucas-Oil-10574-Tacky-GREASE/dp/B0049SUK5Y?th=1) will provide sufficient lubrication.

### 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&#x20;
* Gear-driven azimuth drive

### Specifications

| **Height with NEO:** 171.5mm (6.75in)                                                         | **Height with Falcon:** 194.4mm (7.66in)                                                         |
| --------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------ |
| <p><strong>Footprint with mounting tabs:</strong> <br>133.1mm x 133.1mm (5.24in x 5.24in)</p> | <p><strong>Footprint without mounting tabs:</strong> <br>100.5mm x 100.5mm (3.96in x 3.96in)</p> |
| **Weight with NEO:** 1720g (3.80lb)                                                           | **Weight with Falcon:** 1800g (3.97lb)                                                           |

## MAXSwerve Resources

* [MAXSwerve Module Build Guide](https://docs.revrobotics.com/ion-build/build-guides/maxswerve-module-assembly)
  * [MAXSwerve SPARK MAX Mounting Bracket Assembly](https://docs.revrobotics.com/ion-build/build-guides/maxswerve-module-assembly/maxswerve-spark-max-mounting-bracket-assembly)
* [MAXSwerve Module V1.1 Example Onshape](https://cad.onshape.com/documents/aff91ebfe500659e8336fd06/v/acc05a159a3c3894bf9c55b2/e/152dcd591bc62dda60a33c9e)
* [MAXSwerve Drivetrain V1.0 Example Onshape](https://cad.onshape.com/documents/881172ccbf1a3c6b84a7c7a5/w/47b88cdaad963852e7118016/e/910662262bf507b06f5cb8ce)
* [MAXSwerve Module Calibration](https://docs.revrobotics.com/ion-build/motion/broken-reference)
* [Wiring your MAXSwerve Modules](https://docs.revrobotics.com/ion-build/motion/maxswerve/wiring-maxswerve)
* [Programming your MAXSwerve Drivetrain](https://docs.revrobotics.com/ion-build/motion/maxswerve/programming-maxswerve)
  * [Java Template](https://github.com/REVrobotics/MAXSwerve-Java-Template)
  * [C++ Template](https://github.com/REVrobotics/MAXSwerve-Cpp-Template)
* [Evaluating MAXSwerve Wheels- Plastic](https://docs.revrobotics.com/ion-build/motion/maxswerve/maxswerve-wheel-v1-evaluation)
* [MAXSwerve Module Inspection](https://docs.revrobotics.com/ion-build/motion/maxswerve/maxswerve-module-inspection)
* [Plastic MAXSwerve Wheel Tread Reinforcement](https://docs.revrobotics.com/ion-build/motion/maxswerve/maxswerve-wheel-v1-evaluation/maxswerve-wheel-v1-tread-reinforcement)
* [Aluminum MAXSwerve Wheel Tread Installation](https://docs.revrobotics.com/ion-build/motion/maxswerve/aluminum-maxswerve-wheels)
* [MAXSwerve Visual Pack Contents](https://docs.revrobotics.com/ion-build/build-guides/maxswerve-module-assembly/maxswerve-pack-contents)


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