FRC Swerve Cover for REV Robotics NEO & Voretx BLDC motors with Wago 221 connectors

The intent was to minimize wiring & eliminate the unreliable JST connectors used  for the CAN Bus system used in FRC robots & at the same time allow SPARK MAX modules to be mounted in such a way to allow a clean neater CAN bus distribution. This system also interfaces with a separate design I did for mounting SPARK MAX Controller modules with Wago 221 connectors found in my collection. 

The intent is to connect the CAN wires from the SPARK MAX to the Wago connector above the module with about 4" of wire. I recommend doubling or using the 2 Yellow wires & 2 Green wires together, more so for redundancy to each side of the Wago connector. 

Use naked EN1512 ferrules on binding the Yellow & Green wires into the Wago connector. 

Link for ferrules : https://www.aliexpress.com/item/32920473287.html 

• Note that if you try and use the insulated version they will not go deep enough the Wago connector to make proper contact.

Although technically/electrically you do not need to connect the 2 Yellow/Green wires together because internally the appropriate pins are shorted inside the SPARK MAX, it is more because the JST pins on the spark MAX are very flimsy so having the extra wire for redundancy is beneficial especially because the robot gets hit pretty hard during competition.

The Spark plate will slide in the middle cover with enough clearance and there shouldn't be any issues in coming loose since when all the wiring is done in the robot it will ensure nothing is coming loose anyway.

It should be obvious, but depending on which way the sensor is mounted the wiring will come out from the aligning hole underneath the Top Cover and use one pair of Wago connectors in the middle section. The CAN bus is wired as always.

In order to keep the SPARK MAX and Wago connector underneath the Wago mount assembly in place you will see holes that are all aligned for placing a Tie wrap. Also note to make sure you insert the Wago mount into the Wago cover before you mount the Wago connectors as it will not fit other wise.

The Wago connector will snap in very firmly as that was the intent. Should you need to remove/replace the Wago connector it should be easy to slide out.

You will also notice smaller slit holes in front of the SPARK MAX modules as well above & below the middle of the Wago connectors, these hoes are there so you can feed a smaller tie wrap to keep all wiring neat & tidy & this would be one of the reasons in preventing the middle plate from ever coming loose.

The Top cover simply snaps into the frame and is reinforced with 2 of the screws used as part of the swerve assembly.

This CAN method of connection can be used with the REV Robotics Spark MAX Controller Mount found on this link for a complete system connection:

https://www.printables.com/model/1118055-rev-robotics-spark-max-controller-mount

All parts can be printed with no support required.

Although I believe printing the Top/Middle/Plate Cover & Wago Mount covers can be printed in PLA it would probably be prudent to print in PETG for better reliability during competition.

Recommend printing the Spark MAX Cover for Dual Wago Top Mount in clear PLA/PETG as it makes it easier to see the blinking LEDs.

I have added an alternate version for the Middle and Top cover whereby the mounting holes for the top cover are pushed back so that one of the motor bolts does not rely on the spacing of the plastic which could potentiality come lose under severe robot competition. In this version all 3 motor mounts can be established and the top cover can be removed without affecting the motor mount bolt.

I have added a "swerve sensor cover plate" that will fit over the sensor bracket thus providing complete assembly motor protection. This piece is intended to be printed in clear PLA/PETG or any clear plastic so that you can still see the blinking LED of the sensor.

Updated correct titles. 

• V1 will fit the REV Neo (REV-21-1650) motor assembly
• V2 will fit the REV Neo Vortex (REV-21-1652) motor assembly with integrated Spark Flex

Added a V3 of the mid cover to allow more clearance between the Spark plate when inserted in the mid cover. Also added a version of the Spark plate to install a Single Spark Max

I used the same top cover found in the Onshape link but made major modifications to the middle gear section cover to allow 2 SPARK Max Controller modules to be mounted on the side of the swerve motor system. The side also requires a plate that allows the SPARK MAX Controller modules to be mounted as well as using Wago 221 connectors for the CAN and Sensor system.