New AndyMark Products (Swerve & Steer module?)

[Jared]

These modules look really awesome. One question: what bearings are you guys using for the rotation, and what holds the robot's weight. I can't quite tell from the picture what's going on.

Originally Posted by notmattlythgoe

Aren't you getting more precise control by reducing after the encoder instead of before?

You care about the module's angular displacement, not the motor shaft's. There's some backlash in the planetary gearbox and the second gear reduction, so you may be able to rotate the motor a little bit without having the swerve module rotate. In the end, I'd imagine that this doesn't cause too much error.