# Choosing your Motors

## Motor Compatibility

EasySwerve supports an exceptionally wide range of motors for both steering and drive. Teams can use NEO 2.0 Brushless Motors, NEO Vortex with SPARK Flex, NEO 1.1, Kraken X60, Falcon with 8mm shaft installed, and even CIM motors.

## Motor Orientation

EasySwerve Modules can be assembled with motors mounted on either the top or bottom, providing flexibility for packaging your drivetrain. If a design demands ultimate flexibility, you can even mount one motor on the top and one on the bottom!

<figure><img src="/files/AMldHYHfoSe4ePR8SyoE" alt=""><figcaption></figcaption></figure>

### Bottom Mounted Motor Clearance

{% hint style="warning" %}
This guideline was defined assuming that the terrain the robot will drive on is flat. Driving over bumps or debris may cause damage to your motors.
{% endhint %}

<figure><img src="/files/Dfs9xjz93RGTC9epVMMo" alt=""><figcaption></figcaption></figure>

### Motor Gears - "P17" vs "P27"

Each EasySwerve Module Kit includes QTY 4 - 20DP Motor Gears with different input bores. Only two of these Motor Gears are necessary for assembly; however, most motors are only compatible with one version of the Motor Gear. Below is a table that can help you determine which 20DP Motor Gear is compatible with the drive and steering motors for your EasySwerve.&#x20;

| 20DP Motor Gear - 15mm Spline (P27)                                                                                                 | 20DP Motor Gear - 8mm Keyed (P17)                                                                                                                                   |
| ----------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| Use with motors that have an 8mm 15T Spline output shaft                                                                            | Use with motors that have an 8mm keyed output shaft. You will need to also use the included motor key and retaining ring to mount your motor.                       |
| <p>Examples of compatible motors:<br>  - NEO 2.0<br>  - NEO Vortex with 15mm Spline Shaft installed<br>  - Kraken X60 and more!</p> | <p>Examples of compatible motors:<br>  - NEO V1.1, NEO V1<br>  - NEO Vortex with 8mm Shaft installed</p><p>  - Falcon with 8mm keyed shaft<br>  - CIM and more!</p> |

<figure><img src="/files/PrcKP56DLKxRzjYIxFKB" alt=""><figcaption></figcaption></figure>


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