Quote:
Originally Posted by Joe Johnson
As to encoders, they are great but they have the problem of not knowing where they are when you wake up.
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Absolute rotary encoders don't have this problem. Models with many different types of digital output are available: parallel Grey code, I²C, SPI, synchronous serial, etc. A quick look at the Digi-Key catalog suggests that something appropriate for an arm or swerve steering sensor costs about $25 (which is admittedly more expensive than a good potentiometer).
But you need to bring your toolbox up to date. The Talon SRX motor speed controller has sensor inputs built in, and that's a simple way to add more analog inputs exactly where they are needed.