[Knufire]

Originally Posted by InFlight

The one downside is the absolute encoder is not 1:1 on the steering module. There are several ways to deal with this, a quick search here should yield some potentional solutions to this issue.

There is an alignment feature; a hole in the top plate that is cocentric with a hole in the top plate of the rotating part of the module with the thrust washer. This allows you to stick an allen wrench through both for an easy way to align the wheels in the same position. Making sure they're aligned whenever you reboot the robot should let you use incremental quadrature encoders without much of an issue.