pic: 3928 Swerve Module

[Aren_Hill]

Originally Posted by Ether

If it is indeed 360 degrees, it would most interesting to see how they route and/or suspend the CIM power lines.

Also, I don't see a steering angle sensor. Is it hiding somewhere?

The CIM wires are ran up the polycarb in the picture then have some inline spade connectors (for if they go haywire) attaching them to the wires stuck on the encoder mount that is above the module.

The steering encoder (ma3 from usdigital) is mounted above the center of the module on the polycarb hoop into a 3d printed adapter, the body of it is held on another lexan bracket that reaches from the side of the frame over the top of the module.