[iyportne]

Originally Posted by marshall

I'm not on the team but it's a 1:1 ratio the way they have it setup now. Using the encoder block would result in a ratio that is not 1:1 and would then make for some complex math and silliness to figure out the angle of the module.

Right...the code library is based on absolute position. The encoder is a TT Electronics/BI 6127V1A360L.5FS from Digikey, a linear angle position sensor, makes the code robust and the bot powers up knowing the wheel angles. Of course, the mechanical challenge has always been to get the encoder to match the rotation of the swerve module, but they got that down now after a couple of design interations.