[cjl2625]

On our swerve, we use absolute encoders. They use analog instead of digital output, though.
We've used them on our swerve for the past two years, and have been very reliable. They only require one offset constant, and then don't need to be calibrated again. Rotates infinitely and wraps around from 360-0.

I don't know what the model of the encoder is specifically, but maybe I can find that out.