[Lemon]

This year we have decided to go with swerve drive to operate our robot. Knowing that optical encoders read zero regardless of position on start up, Ive begun to consider using potentiometers to keep track of steering position. My only concern being that the limited number of turns could possibly prove problematic. So I guess my question is more along the lines of this, would potentiometers or optical encoders be more suitable for such a drive system? And for teams that have used swerve drive and potentiometers, have you ever found them to be restrictive in terms of how one must drive in order to make sure you dont max them out? Or do you use continuous potentiometers?