SWYFT Drive V2

New for 2026

New 110mm Wheel with 30A Traction Spike Rollers

The new 110mm wheel delivers a 28% speed boost over the 86mm wheel, increasing top speed from 6.4 ft/s to 8.2 ft/s at the same RPM.

The 110mm wheel uses new 30A rollers for enhanced traction and includes 11 rollers per wheel. Each roller features 418 traction spikes, increasing strafing speed, pushing power, and acceleration.

• 110mm Frame Kit: supports both 110mm and 86mm wheels
• 86mm Frame Kit: supports 86mm wheels only

The 86mm wheel remains available as the compact and the higher-torque option.

The Ultimate Drivetrain for FTC Robotics

Redefine your robot’s potential with SWYFT Drive V2, the most integrated, compact, and powerful drive system engineered for FTC. SWYFT Drive V2 combines a compact module, a robust all-metal gearbox, and the SWYFT Spike motor into a complete drivetrain solution.

Unleash unparalleled maneuverability and speed in an even smaller footprint than ever before. SWYFT Drive V2 is designed to give your robot the definitive edge, allowing you to maximize space for critical mechanisms and dominate the field.

Key Features:

• Ultra-Compact Design: SWYFT Drive V2 is once again the smallest drive system available, now even more compact than its predecessor. This maximizes your robot's build space for other essential components.
  
• Integrated System: Comes complete with the new 110mm or 86mm diameter wheel, the powerful SWYFT motor, and a robust all-metal gearbox, providing a seamless, high-performance package right out of the box.
• Optimized Wheel: Features a new 110mm or 86mm diameter wheel, reducing overall package size.
• Blazing Speed & Power: Achieve a maximum speed of 8.2 ft/s with 110mm and 6.4 ft/s with 86mm. The included SWYFT Spike motor can reach 6000 RPM at 12V, delivering exceptional acceleration and on-field agility.
• Perfect for Small and Large Robots: Designed to excel with robots weighing up to 40 lbs, providing ample power and durability for a wide range of competitive designs.
• Precision Gearing: A finely tuned 12.7:1 gear ratio delivers approximately 475 RPM wheel speed, balancing speed and torque perfectly for competitive play.
• Robust All-Metal Gearbox: Engineered for exceptional durability and performance, ensuring smooth and reliable operation under the most demanding conditions. The pinion and planet gears are made from 4140 Steel, and the ring gear from 6061 Aluminum.
• Massive Dual Bearings: Giant 40mm x 50mm x 6mm bearings ensure smooth and frictionless wheel rotation for optimal efficiency.
• Versatile Mounting: Features M4 mounting holes on the front face and M3 mounting holes on the back face for flexible integration into your robot's design.
  
• Lightweight Powerhouse: Each SWYFT Drive v2 module (motor + wheel + gearbox) weighs in at a mere 640g with 110mm wheel or 575g with 86mm wheel.

V2 Frame Kit: Get everything you need to build a complete drivetrain

• Allows you to build a drivetrain without custom plates.
• Channels come in the largest size that makes your drivetrain close to 18", but you can easily cut them to make whatever drivetrain size you want.
• Channels can be arranged in numerous ways to create all sorts of different drivetrains.
• Supports configurations for high or low ground clearance.
• Enables making your robot frame completely closed or open to make placing an intake easier.
• Channels are compatible with almost every FTC and FRC build system.

New Options for Complete Drivetrain Solutions:

• Drive Modules: SWYFT Drive v2 modules (motor, wheel, gearbox included) without the frame, perfect for building your custom chassis. Tools, Grease, Loctite also included. (Drive Modules require assembly).
• V2 Frame Kit: Get everything you need to build a complete drivetrain! This option includes all necessary channel extrusions, hardware, and tools for a full robot chassis. (Frame kit requires assembly).

Material List:

• Pinion and Planet Gear: 4140 Steel
  
• Ring Gear: 6061 Aluminum
• Wheel Rollers: 30A or 40A TPE Rubber, Nylon Core
• All Other Aluminum Components: 6061 Aluminum
• Frame Kit: Steel Plates, Aluminum Channel Extrusions

SWYFT Spike Motor (SR-MOTOR-DC-01) Specs:

• Nominal Voltage: 12V
• No Load Current: 0.4A max
• No Load Speed (Motor): 6000 RPM
• Max Current: 9.2A
• Max Torque (Motor): 1.47 kg·cm
• Type: 550 Motor
• Encoder: 2 Channel Quadrature, 28 PPR, 3.3V or 5V compatible
• Motor Power Connector: JST VH 2-Pin
• Encoder Connector: JST XH 4-Pin
• FTC Legal

CAD&Drawings
Onshape Configurator
Drivetrain Simulator
110mm Assembly Video
86mm Assembly Video

Spare Parts

package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorSimple;

/**
 * Robot-centric mecanum teleop with BRAKE mode on every drive motor.
 *
 * Controls:
 *   Left stick  → forward/back + strafe
 *   Right stick X → rotate
 *
 * Hardware map names (change these to match your Robot Configuration):
 *   frontLeft, backLeft, frontRight, backRight
 */
@TeleOp(name = "Mecanum TeleOp (Brake)", group = "TeleOp")
public class MecanumTeleOpBrake extends LinearOpMode {

    @Override
    public void runOpMode() throws InterruptedException {

        // ===== Hardware Map =====
        DcMotor frontLeft  = hardwareMap.get(DcMotor.class, "frontLeft");
        DcMotor backLeft   = hardwareMap.get(DcMotor.class, "backLeft");
        DcMotor frontRight = hardwareMap.get(DcMotor.class, "frontRight");
        DcMotor backRight  = hardwareMap.get(DcMotor.class, "backRight");

        // ===== Directions =====
        // Reverse the right side so positive power drives forward.
        // If the robot drives backward when you push the stick forward,
        // reverse the LEFT side instead.
        frontRight.setDirection(DcMotorSimple.Direction.REVERSE);
        backRight.setDirection(DcMotorSimple.Direction.REVERSE);

        // ===== BRAKE mode on every drive motor =====
        frontLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
        backLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
        frontRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
        backRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);

        // Run without encoders (standard for pure teleop)
        frontLeft.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        backLeft.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        frontRight.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
        backRight.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);

        telemetry.addData("Status", "Initialized – BRAKE mode active");
        telemetry.update();

        waitForStart();
        if (isStopRequested()) return;

        while (opModeIsActive()) {

            // ===== Gamepad Input =====
            double y  = -gamepad1.left_stick_y;          // Forward / back (Y is inverted)
            double x  =  gamepad1.left_stick_x * 1.1;    // Strafe (1.1 helps imperfect rollers)
            double rx =  gamepad1.right_stick_x;         // Rotate

            // ===== Normalized mecanum math =====
            double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1.0);

            double frontLeftPower  = (y + x + rx) / denominator;
            double backLeftPower   = (y - x + rx) / denominator;
            double frontRightPower = (y - x - rx) / denominator;
            double backRightPower  = (y + x - rx) / denominator;

            // ===== Apply power =====
            frontLeft.setPower(frontLeftPower);
            backLeft.setPower(backLeftPower);
            frontRight.setPower(frontRightPower);
            backRight.setPower(backRightPower);

            // Optional live telemetry
            telemetry.addData("FL", "%.2f", frontLeftPower);
            telemetry.addData("BL", "%.2f", backLeftPower);
            telemetry.addData("FR", "%.2f", frontRightPower);
            telemetry.addData("BR", "%.2f", backRightPower);
            telemetry.update();
        }
    }
}