Quote:
Originally Posted by lamk
A potentiometer may be a more appropriate sensor.
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This is true, simply make a mounting bracket for the potentiometer and provide linkage to your swerve module, coaxial is another route that completely circumnavigates this issue.
If youre dead set on using an encoder for your swerve feedback then you should look into tuning your PID methodically and slowly. For high reduction applications like this your proportional will be a pretty small number (0.2 would probably be a good starting point). Ignore I and D until you reach something under control that levels out. Hope you have some success.