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, NEO Vortex Brushless Motor, or Falcon 500 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 MAXSwerve Module comes with all the gears for these 3 different robot speeds (low, medium, and high):

Speed Ratio Chart - Base Kit

Upgrade your MAXSwerve Module with our all-new 3in MAXSwerve Module - Gear Ratio Upgrade Kit (REV-21-3008). The Gear Ratio Upgrade Kit works with the 3in MAXSwerve Module and comes with two additional pinions and four additional spur gears that create five new extra high speed ratios:

Speed Ratio Chart - Upgrade Kit

*Gear ratio upgrade kit, motors, motor controllers, and structural framing NOT included, but can be added to complete a fully-functioning swerve drivetrain. Visit the MAXSwerve Spare Parts page for replacement products.

Features

Metal construction
3in wheel diameter
Module mounting maximizes wheelbase footprint
Compatible with NEO Brushless Motor, NEO Vortex Brushless Motor (with replacement shaft), or Falcon 500 (with replacement shaft)
- (REV-21-2848) Vortex Shaft - MAXSwerve Integrated Key
- (REV-21-2094) 8mm Keyed Falcon 500 Replacement Shaft
Azimuth driven by NEO 550 Brushless Motor & UltraPlanetary Gearbox
All steel gears in drive powertrain
Gear-driven azimuth drive
Firmware available for the SPARK MAX that enables absolute encoder input
- Allows for closed-loop control of the module on the motor controller
Included calibration tool
- Calibration values can be saved to the SPARK MAX, making modules interchangeable without updating robot code
APIs in REVlib for swerve functions
Features included in the REV Hardware Client for calibration and configuration of your robot drivetrain

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

Download a Visual Parts List

SKU	PRODUCT NAME	QUANTITY
REV-11-1271	Through Bore Encoder	QTY 1
REV-11-3326	Absolute Encoder Adapter	QTY 1
REV-11-3327	JST PH 6-pin Extension Cable - 30cm	QTY 1
REV-21-2998	3in MAXSwerve Module - SPARK MAX Mounting Bracket	QTY 1
REV-21-3004	3in MAXSwerve Wheel - Plastic - V2.0	QTY 2
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-P15	3in MAXSwerve Module - Wheel Hub	QTY 1
REV-21-3005-P18	3in MAXSwerve Module - Wheel Axle	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-22-2997	3in MAXSwerve Module Calibration Tool	QTY 1
REV-41-1601	UltraPlanetary Cartridge - 3:1	QTY 1
REV-41-1602	UltraPlanetary Cartridge - 4:1	QTY 1
REV-41-1607	UltraPlanetary 550 Motor Plate	QTY 1
REV-41-1608	UltraPlanetary 550 Motor Pinion Gear - 13 Tooth	QTY 2

3in MAXSwerve V1 to V1.1 Upgrade Kit (REV-21-2986):

SKU	PRODUCT NAME	QUANTITY
REV-21-3005-P24	3in MAXSwerve Module - Pinion Spacer	QTY 1
REV-21-3005-P25-PK3	3in MAXSwerve Module - Short Key - 3 Pack	QTY 1
REV-21-3005-P26	3in MAXSwerve Module - Encoder Bridge	QTY 1

3in MAXSwerve Module Bearing Pack (REV-21-2999):

SKU	PRODUCT NAME	QUANTITY
6800ZZ	10mm x 19mm x 5mm Bearing	QTY 1
F688ZZ	8mm x 16mm x 5mm Bearing	QTY 1
F6900ZZ	10mmm x 22mm x 6mm Bearing	QTY 2
6701ZZ	12mm x 18mm x 4mm Bearing	QTY 2
MR106ZZ	6mm x 10mm x 3mm Bearing	QTY 2
6812ZZ	60mm x 78mm x 10mm Bearing	QTY 1

3in MAXSwerve Module Hardware Pack (REV-21-3000):

SKU	PRODUCT NAME	QUANTITY
REV-29-1016	#10-32 Low Profile Nylon Lock Nut	QTY 3
REV-29-2922	Socket Head Screws #10-32 x1in	QTY 4
REV-29-2930	Socket Head Screws #10-32 x2in	QTY 4
REV-29-2941	Button Head Hex Drive Screws #10-32 x3/8in	QTY 7
REV-29-2943	Button Head Hex Drive Screws #10-32 x1/2in	QTY 2
REV-29-2951	Button Head Hex Drive Screws #10-32 x1in	QTY 6
REV-41-2973	M3 x 60mm Socket Head Cap Screw	QTY 4
REV-41-2974	M3 x 25mm Socket Head Cap Screw	QTY 2

3in MAXSwerve Module Spacer Pack (REV-21-3001):

SKU	PRODUCT NAME	QUANTITY
REV-21-3005-P14	3in MAXSwerve Module - Structural Spacer	QTY 3
REV-21-3005-P19	3in MAXSwerve Module - Wheel Spacer	QTY 2

Notes

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.
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.
As of November 2023, 3in MAXSwerve Modules will ship with a V2.0 version of the 3in MAXSwerve Wheel - Plastic
As of October 2024, 3in MAXSwerve Modules will ship with the 3in MAXSwerve V1 to V1.1 Upgrade Kit (REV-21-2986), replacing the 3in MAXSwerve Module - Motor Key (REV-21-3005-P10-PK3) and the 3in MAXSwerve Module - Encoder Bridge (REV-21-3005-P13)