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The MK4i is the flipped motor, corner biased version of the MK4 module. The MK4i module moves the motors to a lower position where they are out of the way and better protected. Overall height and center of gravity of the swerve module are lower. The MK4i module also moves the wheel further into the corner of the chassis for a wider wheelbase which results in a more stable robot. Because the wheel is moved into an area the frame would typically occupy, the MK4i includes a secondary plate to properly box in the chassis.
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