# Getting Started with EasySwerve ## What is Swerve Drive? Swerve drivetrains use standard wheels mounted on their own pivoting mechanisms. Most swerve drivetrains, including EasySwerve, require two motors per wheel: one to rotate the wheel, and one to control the direction the wheel points. Your robot can move in any direction because the drive wheels pivot without changing the orientation of the drivetrain, but this type of drivetrain can become technically complex very quickly.

diagram showing the possible movements of a swerve drivetrain

## How is EasySwerve Different from other Swerve Modules? * Designed with accessibility in mind – prioritizing team experience regardless of skill level with simple assembly, easy maintenance, and a fully enclosed geartrain. * Durable Base Plate and Cover made from 30 percent glass-filled nylon for impact resistance and lightweight performance. * Wide motor compatibility including NEO 2.0, NEO Vortex with SPARK Flex, NEO 1.1, and CIM (top-mount only), with both 8mm keyed and 8mm 15T Spline pinions included to adapt additional FRC legal motors like Kraken X60 or Thrifty Pulsar. * Optimized gearing featuring a 20:1 azimuth reduction and 6.3:1 drive reduction, achieving up to 18.79 ft/s with NEO Vortex or 15.724 ft/s with the NEO 2.0 Brushless Motor. * 4in wheel system for high speeds, more ground clearance, and quick wheel changes using the MAXSpline interface. * Tread options include standard 4in wheels and high-traction 4in Spiky Wheels with replaceable TPU tread. * Straightforward calibration using a 1/8in or 3mm hex key that locks into a dedicated azimuth alignment pocket easily accessible from the top meaning you don't need access under the robot. * Easy integration with MAXTube and 0.5in-on-pitch chassis systems using the included mounting holes on the base plate. * Only four tools are necessary for assembly and calibration, keeping your drivetrain maintenance kit light and affordable.