That's an interesting idea.
With a custom breakout/cable you could wire out both the potentiometer and quadrature encoder for each wheel for each Talon SRX (since SRX decodes both at the same time and puts both on CAN bus).
Quote:
Originally Posted by juchong
YAY PONIES!
Every time that we've used encoders for swerve drive, we've coupled them with a 360 degree potentiometer for initial calibration. This way, you (almost) always know where your wheels are pointing and how much you're slipping.
If you throw a well-calibrated Gyro into the mix then you've got field-oriented drive + drift compensation!
We've also had great results using the US Robotics encoders included in previous KOPs. One for steering, and one for drive.
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