[Oblarg]

Originally Posted by GeeTwo

If I understand correctly, stepper motors require twice as many control signals as a brushed motor. So to save an encoder feedback you add another control circuit - with uncertainty if the torque isn't sufficient to make the step. It sounds like a step backwards, or at best sideways.

Hardware and library support trivializes much of this. You can run a stepper off an arduino pretty easily (online tutorials and libraries abound). If FRC were to offer support for common stepper drivers in their control system library (which would probably be the only way this would happen given FRC rules re: co-processor controlled mechanisms), it'd be even easier.