[Paul Boehringer]

We used indexed encoders this year. In my opinion an encoder such as the AM103 (made by cui) where the shaft goes through the encoder are much easier to deal with because you can mount them right to the gearbox plate. However each team has their own machining advantages and disadvantages.

Overall I would say its an extremely high priority to either use indexed encoders or continuous potentiometers on a swerve steering system. Though there are totally ways around it, I feel like doing it this way makes it much easier.