The drive wheel wraps directly around the rotor of a SunnySky X6215S 210KV brushless motor, with a silicon tire bonded to the outer surface for strong grip and minimal slip. Two CNC-machined aluminum holders clamp the motor shaft on both sides, supported by precision bearings throughout, giving the assembly a rigid, zero-play structure. The ESC mounts on top of the driven gear, keeping wiring short and clean through full rotation. A closed-loop encoder on the drive axis ensures precise velocity control, delivering 3675W of continuous power at 12S.
Steering is driven by a RoboMaster M2006 motor through a 36:1 internal gearbox and an additional 2:1 external gear reduction, delivering up to 250 RPM at the module — completing a full 360° rotation in under a quarter of a second. All rotating elements run on bearings, giving the module a smooth, frictionless feel through the entire steering range. A hall-effect sensor homes the axis at startup, while a closed-loop encoder maintains accurate heading at all times. Four modules together support a robot weighing between 25 and 50 kg.
