CANcoder vh Swerve X Base and Cap

This is a modified base for the new hardware revision of CANcoder by CTRE, designed to integrate with the Swerve X swerve drive module by West Coast Products, a FRC legal COTS drive module. The base is relieved properly for the new surface features of the late 2022 version of CANcoder, dubbed “vh”. Using the legacy design will result in misalignment of the encoder with magnet, resulting in an encoder error.

The base is designed to use one of the machine screws from the stock enclosure that is included with the CANcoder. Then, if desired, the cap can be added to protect the encoder with two 10-32 machine screws 0.25 inch longer than stock that connect through the cap and base into the top plate of the drive. The cap is holed at the front to observe the status light on the encoder.

EDIT 11/30/22

I added a remix with a .025" dropped “deck height” for the sensor, and re-extended the stand-offs for the sensor, after FRC Team 5550 was nice enough to test the design with SRX encoders. The CANcoders apparently have a greater range. I may make this the default design after testing in the new season. The cap should remain functional for both.

Printing Recommendations

The cap is designed to be printed upside down with no supports. 6 shells/perimeters, 4 top/bottom layers, 20% infill.

The base should be printed right side up(encoder side up) with supports for bottom. 6 shells/perimeters, 4 top/bottom layers, 20% infill.

PETG is is recommended, as with most structural parts, but a quality PLA should work fine.

Good luck in 2023 from the 3171 Hurricanes!