Updated Andymark Swerve Drive Module

My team has about 7 Andymark swerve and steer modules just laying around from our 2019 year but never came back around to using them because of their extreme height compared to alternatives like SDS, WCP Swerve X, or REV's modules, so I took it upon myself to update them and make them possibly viable for the 2024 (although not as viable as the previously mentioned modules). The reason driving me was mostly the saving of hundreds of dollars by modifying the modules than buying $300+ alternatives. 

I tried to take as many of the shortcoming of the original drive and overcome them with the least of modification to core components such as the gears and wheel mounting. The modules are now 9.8 in tall (from 12.75 in), and mount 1.5 in lower with room to use 2x1 box tubing unlike the original. (the original wasn't able to perfectly mount to the centerline of 1x1 so I made that work as well) The overall length is shortened by ½ inch but widened by 1in for more structural stability in the chassis and to allow for easier mounting to box tubing. The module is still able to accept Neo's and Falcon 500's but no longer accepts the Andymark 550 motor and gearbox and instead replaces it with mounting holes for a versa-planetary. I'd recommend running around a 20:1 ratio on the steering motor just to be safe. In the picture a 180 drive is used on the versa-planetary to shorten the overall module but it is able to be normally mounted.

Another thing that I updated/changed was the encoder which is now a rev through bore instead of the standard MA3 that arrives with the module. This was to ease the job of our programmers and make the modules nearly as easy to implement as the rev ones since their motors and encoder setup is nearly identical. 

This update/modification will require you to make or order new components which are:

Rev though bore encoder

Versaplanetary (optional 180 degree drive)

neo 550

SparkMAX x2

1.5 in of hex bar

am-4460 bearing

¼ in bolt .5in long

one 1.125 in OD and ½ hex ID flanged bearing

Machine or order the 3 replacement plates (thickness for all 3 is 0.1875in)

3d print the 40t 20dp encoder gear

The assembly/disassembly process is pretty straight forward since you're only replacing parts and have the STEP file, I hope I was able to update these well enough to suit your needs. Thanks for reading all of this (if you did). Hope you have/had a great season!