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Originally Posted by nathannfm
This is a common need for swerve drives, I'm not a programmer at all but if you can find some swerve drive code (I know FRC 1640 posts a bunch of swerve drive stuff) you can probably figure out how they do it. The AndyMark swerve module actually uses this exact motor for steering.
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Note the following from the Swerve & Steer product page.
Quote:
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Originally Posted by http://www.andymark.com/product-p/am-3009.htm
The PG71 has an encoder on the back side of the 775 motor, which can help keep track of the steering location. In order to use this method of closed-loop encoder tracking, use a 3/16" allen wrench to ensure that the motor plate, bearing plate, and gear plate are all aligned before operation. Alternatively, there is a location to mount an absolute encoder (this absolute is not included).
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This is the same issue that Ether and I described. Since the encoder is incremental, there is a mechanical feature to make sure that all of your modules are aligned in the same direction at the beginning of the match (so that zero is always in the same place). Alternatively, there are holes on the plate and an additional gear available as a separate purchase to mount the MA3 absolute encoder to the module.