[Optimism]

We used a set screw to secure the 3D printed gear to the shaft of the encoder. The printed gear isn't flat to allow for a better mesh with the swerve module gear since the way that we attached the gear, a flat gear doesn't mesh very well (around 50% of the width of a flat gear vs >75% of the gear we are using).

The issue we had with setting up the encoder that way was the possibility of having to take off the sensor or doing maintenance on the chassis which could throw off the absolute encoder value. It would make remounting the sensors a big pain, especially during competition.