Fixing AndyMark's Swerve & Steer Module Problem

[Optimism]

Team 2468 here,

We also solved this problem of steering direction by adding an absolute encoder.
We 3D printed a gear to be 1:1 with the steering module and meshed it with the gear driven by the PG71.
Our encoder is an absolute shaft encoder. We calibrated once by storing the value of each encoder in a file on the roboRIO when the wheels were all turned correctly, and now we read that file in the code to know which direction the wheels should face as forward.

A photo of our 3D printed gear on the swerve module is attached.