[sraque]

Thanks for mentioning us in your post Peyton! Yes, we had quite a bit of success with these modules this year. We also used the US Digital MA3 absolute encoders for wheel direction. The mechanical solution mentioned earlier is fine if you are OK with always setting up in the same orientation and don't care about putting one more task on the drive team. We chose not to do that, and our different auto routines ran best with different initial wheel orientations.

My only observation on these modules is that after a bit, the gears begin to chatter. The shaft with bevel gear can flex away from its mating gear on the wheel and result in slipped gears. We still did well with it. It also allowed us to get going with swerve very quickly. But I must also shout out to Apple Pi. Without their Labview swerve code, we would have had a really rough time.