Originally Posted by page2067 (Post 1509653)

We were psyched to hear that a team that did as well as you guys used our code as a basis.
Congratulations on a great year!
Our programming team will be posting our past year swerve update later this fall. Our code and some powerpoint that describes the basis for it are on our resource tab of our website.

We appreciate hearing from teams that find it useful.

Originally Posted by Peyton Yeung (Post 1509432)

Here are some pictures of the setup.

The encoder has a 1/4" output so I took a 3/8" hex shaft, drilled a 1/4" hole in one end, slotted the hole with a band saw, and slid a shaft collar over the slot and voila. The encoder now has a 3/8" hex shaft which I coupled with a 3/8" hex gear with the same number of teeth so the feedback is 1:1. The whole plate has just 5 holes in it.