[Tyler2517]

I do not believe that you can use the closed loop control for the analog absolute controllers. I can tell you that you absolutely do not want to use the quadrature encoders to keep track of the position of the swerve you will loss track of ticks so fast i would give you about 25-60 seconds tell you are +-15 degrees. Closed loop control is a must with out it will be semi impossible to control properly.

I know currently you plug the analog encoders in to the analog break out on the digital side car i am not sure how this works in the future but it is not very difficult to set up.

We used that encoder last year it worked pretty well after about 25 ish minutes of good rough use. The engineer from US digital said that some times they need to "lock in place" tell they stop slipping and that might take some time to do. If that happens do not be alarmed.

We use C++ we use it because it is what we have always used along with most of our programming mentors come from the world of C type programs. I have been told that C++ is the "fastest" but i don't know how true that really is.