Swerve Encoder and Wiring Questions

[asid61]

Originally Posted by TheHolyHades1

Hi. I'm working on a design for a swerve drive robot, and, as this is my first attempt at actually making one, I've got a couple questions.

1. What precision is generally suggested for the encoders on the steering motor? We've currently got a 24 turn encoder which can be geared. I'm thinking we should try to gear it so that we get roughly 360 degree precision, but I have no idea if that's under/overkill.

2. How have people previously solved the issue of power wires for a module with the motor orientations similar to this: http://www.chiefdelphi.com/media/photos/33335

Thanks!

For the second question, people sometimes use slip rings. They allow rotation around their center but can still transmit power. Ideally you would just go with a coaxial setup like 221's revolution swerve to eliminate the wire problem altogether, and save some weight.